CN112009682A - Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change - Google Patents
Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change Download PDFInfo
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- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
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- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- G—PHYSICS
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Abstract
The invention discloses a bionic flapping wing micro air vehicle for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change and a control moment generation method thereof. The aircraft comprises a lift system, a transmission system, a control system and a power system. The transmission system realizes the reciprocating flapping of the wings in a small space by distributing gear reduction group gears and crank-connecting rod combinations. The control system drives the flapping wing tensioning beam to move forwards, backwards, leftwards and rightwards respectively through two independent steering engines to achieve effective adjustment of the attack angle of the flapping wing. The flapping wing tensioning beam is connected with the spherical hinge device on the base and is controlled by the rolling steering engine and the pitching, so that the change range of the attack angle of the flapping wing is effectively enlarged, and the control torque generated by the flapping wing is increased. In addition, when the bionic flapping wing micro air vehicle is used for attitude control, the steering effect is further enhanced by controlling the gravity center deflection of the steering engine, and the control moment generated by the flapping wings is effectively improved.
Description
Technical Field
The invention relates to the field of micro aircrafts, in particular to a bionic flapping wing micro aircraft for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change.
Background
With the rapid development of technologies such as MEMS processing, information remote sensing, computer science and the like, the micro aircraft starts to become realistic from the concept. The micro aircraft has wide application prospect in military fields such as reconnaissance and surveillance, low-altitude patrol, anti-terrorism blasting and the like and civil fields such as mimicry observation, fire fighting and disaster relief. Currently, according to the principle of flight, micro-aircraft are roughly divided into three categories: fixed wing micro-aircraft, rotor wing micro-aircraft and bionic flapping wing micro-aircraft.
The micro aircraft has small size and low flying speed, and the wings of the micro aircraft are in flow with low Reynolds number when flying. At the moment, the fixed-wing micro aircraft and the rotor wing micro aircraft are generally limited by the flight principle, so that the aerodynamic efficiency is low, the maneuverability is poor, the performance is poor when the dimension is small, and the miniaturization of the two layout micro aircraft is also greatly limited. In recent years, through the intensive research on insect flight, the concept of a bionic flapping wing micro air vehicle is proposed. The bionic flapping wing micro aircraft flapping by means of wings similar to insect wings has higher lift force generation capacity and high aerodynamic efficiency under the condition of low Reynolds number, so that the layout has the advantages of good concealment, contribution to microminiaturization and the like compared with a fixed wing micro aircraft and a rotor wing micro aircraft, and the bionic flapping wing micro aircraft also becomes a design hotspot of the conventional micro aircraft.
Most bionic flapping wing micro aircrafts are in tail-free layout, and how to search for an equivalent control surface to realize the generation of high control torque is a big problem in design. Most of the bionic flapping wing micro aircrafts disclosed at present generally utilize flapping wings as equivalent control surfaces, and most of the aircrafts pull a root beam of the flapping wing through a steering engine arranged at the wing root to change the tensioning degree of a membrane when each wing flaps up and down, so that the attack angle of the flapping wing flaps up and down is adjusted, the aerodynamic force is changed, and finally, a control moment is generated. For example, patent CN 109606675 a, "a micro bionic flapping wing micro air vehicle based on single crank and double rocker mechanism" adopts such a design scheme. The bionic flapping wing aircraft adopting the control scheme has the advantages that the top end of the tensioning beam of the flapping wing is fixed on the base to form a cantilever beam, and when the steering engine is controlled to pull the tensioning beam, the tensioning beam bends and deforms around the fixed end of the top end to generate the change of the position of the tensioning beam. The flapping wing is limited by the stroke and the spatial arrangement of the linear steering engine, the integral bending degree of the wing root beam is not large enough, the pulling on a wing membrane is not large enough, and the deformation of the wing membrane is not obvious, so that the change of the attack angle of the flapping wing is not obvious, and the generated control moment is limited.
Although the method can change the deformation of the wing membrane of the flapping wing to a certain extent, adjust the attack angle of the flapping wing and generate the control moment, the specific implementation is limited by space and structural design, the displacement of the tensioning beam along with the steering engine is limited, and the generated control moment is limited. In addition, when the micro flapping wing aircraft needs larger control torque, the flapping wing is completely used as a control surface, the change of the attack angle of the flapping wing is larger, and at the moment, the flapping wing is difficult to work in the attack angle range with higher aerodynamic efficiency, and the generation of high lift force of the flapping wing is also influenced. Therefore, in addition to the control torque generation by the control of the flapping wings themselves, it is necessary to invent some other control torque generation method.
Disclosure of Invention
The invention provides a bionic flapping wing micro air vehicle for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change, aiming at the current situation that the existing bionic flapping wing micro air vehicle only obtains the control moment by controlling the deformation of a flapping wing membrane, and solving the problems of limited change range of an attack angle, small generated control moment and single generation form of the control moment in the scheme, so as to meet the requirement of high control moment generation during high maneuvering flight of the air vehicle.
A bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change to achieve high control moment generation comprises a lift system, a transmission system, a control system and a power system.
The lifting system consists of a left flapping wing and a right flapping wing, and each flapping wing consists of a main beam, a flexible beam, a tensioning beam and a wing membrane. The wing membrane is a flexible membrane and is made of polyimide material, and the front edge and the side edge of the wing membrane are respectively wrapped into a tube shape and then fixed by using an adhesive. The main beam and the tension beam respectively penetrate through the tubular space formed by the front edge and the side edge of the wing membrane and can freely rotate around the tubular space. The same sides of the two flexible beams are bonded to one side of the wing membrane in a dispersed state, and form included angles of 20 degrees and 50 degrees with the main beam respectively; the wing root end of the main beam is connected with a wing rod of the transmission system, the front edge end of the tensioning beam is connected with a spherical hinge device of the control system, and the rear edge end of the tensioning beam is inserted into a tensioning beam restraining hole of a pitching rudder frame of the control system.
The transmission system comprises a transmission base, a supporting base, a distribution gear speed reduction set, a connecting rod and a transmission amplifying device. The transmission base comprises mounting hole sites of the distribution gear reduction group and mounting cavities of the power device, and the mounting hole sites and the mounting cavities are respectively used for fixing the distribution gear reduction group and the power device. The supporting base comprises a transmission amplifying device mounting hole site, a constraint chute, a control actuating mechanism mounting hole site and a spherical hinge mounting groove, and is used for fixing the transmission amplifying device of the transmission system and the control actuating mechanism and the spherical hinge of the control system. The distribution gear reduction unit comprises a main shaft gear, a single-layer gear and a double-layer gear. The main shaft gear is arranged on an output shaft of the power device, the single-layer gear and the double-layer gear are respectively arranged in preset hole positions of the transmission base, a large-tooth-number gear in the double-layer gear is meshed with the main shaft gear, and a small-tooth-number gear is meshed with the single-layer gear. One end of the connecting rod is connected to the eccentric hole position of the single-layer gear, and the other end of the connecting rod is coaxially connected with one end of the left rocker arm and one end of the right rocker arm of the transmission amplifying device through rivets and slides smoothly in the restraining sliding groove of the supporting base. The transmission amplifying device comprises a left rocker arm, a left connecting rod, a left wing rod, a right rocker arm, a right connecting rod and a right wing rod, wherein the left rocker arm and the right rocker arm are connected with the corresponding mounting hole positions of the supporting base through rivets, and can rotate around the mounting hole positions in the middle. The left end of the left rocker arm is connected with the right end of the left connecting rod through a rivet, the left end of the left connecting rod is connected with a hole site in the middle of the left wing rod through a rivet, the right end of the left wing rod is riveted with a corresponding mounting hole site of the support base, and the left wing rod is driven by the left connecting rod to flap around the mounting hole in a reciprocating mode. The right end of the right rocker arm is connected with the left end of the right connecting rod through a rivet, the right end of the right connecting rod is connected with a hole site in the middle of the right wing rod through a rivet, the left end of the right wing rod is riveted with a corresponding mounting hole site of the support base, and the right wing rod beats around the mounting hole in a reciprocating manner.
The control system comprises a control execution mechanism, a spherical hinge device and a flight control unit. The control executing mechanism comprises a rolling rudder machine arm, a rolling rudder machine frame, a rolling steering machine, a pitching rudder machine arm, a pitching rudder machine frame and a pitching steering machine. The roll steering engine arm is fixed in a control mechanism mounting hole of the support base through a screw, and the roll steering engine is fixed in a reserved cavity of the roll steering engine frame. The rear end of the rolling rudder machine frame and the supporting base form a rotating pair, and the rolling rudder machine frame can freely rotate around the axis of the rotating pair. The pitching rudder horn is fixed in the mounting hole position of the rolling rudder frame through a screw, and the pitching rudder is fixed in the reserved cavity of the pitching rudder frame. The rear end of the pitching rudder frame and the reserved hole position of the rolling rudder frame form a rotating pair, and the pitching rudder frame can freely rotate around the axis of the rotating pair. A flapping wing tensioning beam restraining hole position is reserved at the bottom end of the pitching steering engine frame and used for restraining the rear edge end of the flapping wing tensioning beam. The spherical hinge device comprises a left rotating ball, a right rotating ball, a left spherical hinge fixing seat and a right spherical hinge fixing seat. Wherein the front edge ends of the tensioning beams of the left flapping wing and the right flapping wing are inserted into the reserved hole positions of the left rotating ball and the right rotating ball. The left and right rotating balls are respectively arranged in the left and right spherical hinge mounting grooves of the supporting base, the left and right spherical hinge fixing seats are respectively buckled on the left and right spherical hinge mounting grooves, so that spherical hinge connection is formed, and the tensioning beam of the flapping wing can freely rotate around the spherical hinge in all directions. The flight control unit is a highly integrated micro flight control board, at least integrates an STM32F411CE main control chip, an MPU9050 nine-axis sensor, an RFM22B data transmission chip, an MS5611 barometer and the like, and is used for central control calculation, aircraft attitude acquisition, attitude processing, control instruction calculation, air-ground remote data transmission and the like. The flight control unit is fixed on the supporting base through flexible foam rubber.
The power system is a power source of the bionic flapping wing aircraft, and the flapping motion of the flapping wings is realized by the driving system mechanism. The power system comprises a power device and a battery, wherein the power device is a hollow cup motor, and the battery is a high-performance lithium battery.
A bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change to realize high control moment generation has the following pitching control moment generation process:
when the aircraft needs to generate a head raising pitching control moment, the flight control unit sends an instruction, and the pitching steering engine drives the pitching steering engine frame to rotate, so that on one hand, the pitching steering engine frame drives the tensioning beams of the left flapping wing and the right flapping wing to synchronously rotate backwards around the spherical hinge, further, the attack angle of the aircraft is simultaneously reduced when the left flapping wing and the right flapping wing flap forwards, and the attack angle is simultaneously increased when the aircraft flaps backwards, so that the resistance of the left flapping wing and the right flapping wing flap forwards is reduced when the left flapping wing and the right flapping wing flap forwards, and the resistance of the left flapping wing and the right flapping wing flap backwards is increased when the left flapping wing and the right flapping wing flap backwards, and the average resistance of the left flapping wing and the right flapping wing forwards is generated in a flapping cycle, and the pitch control moment of the head is generated because the; on the other hand, the gravity center of the pitching steering engine moves backwards relative to the gravity center of the aircraft due to the rotation of the pitching steering engine, so that head-up pitching control moment is generated;
when the aircraft needs to generate a low head pitching control moment, the flight control unit sends an instruction, and the pitching steering engine drives the pitching steering engine frame to rotate, so that on one hand, the pitching steering engine frame drives the tensioning beams of the left flapping wing and the right flapping wing to synchronously rotate forwards around the spherical hinge, and further the attack angle of the aircraft is simultaneously increased when the left flapping wing and the right flapping wing flap forwards, and is simultaneously reduced when the aircraft flaps backwards, so that the resistance of the left flapping wing and the right flapping wing flap forwards is increased, and the resistance of the left flapping wing and the right flapping wing flap backwards is reduced when the aircraft flaps backwards; on the other hand, as the pitching steering engine rotates, the gravity center of the pitching steering engine moves forwards relative to the gravity center of the aircraft, so that head-lowering pitching control moment is generated.
A bionic flapping wing micro aircraft based on double-wing differential motion and steering engine gravity center change and capable of realizing high control torque generation has the following rolling control torque generation process:
when the aircraft needs to generate a left rolling control torque, the flight control unit sends an instruction, the rolling steering engine drives the rolling steering engine frame to rotate to the left, on one hand, the rolling steering engine frame drives the pitching steering engine and the pitching steering engine frame to rotate to the left, thereby driving the tensioning beams of the left and the right flapping wings to synchronously rotate leftwards around the spherical hinge, leading the wing membrane of the right flapping wing of the aircraft to become tight and the wing membrane of the left flapping wing to become loose, so that the attack angle of the forward flapping and the backward flapping of the right flapping wing is increased simultaneously, the attack angle of the forward flapping and the backward flapping of the left flapping wing is decreased simultaneously, therefore, the lift force of the forward flapping and the backward flapping of the right flapping wing is increased at the same time, the lift force of the forward flapping and the backward flapping of the left flapping wing is reduced at the same time, thereby realizing the increase of the lift force of the right flapping wing in one flapping cycle and the decrease of the lift force of the left flapping wing in one flapping cycle, the left flapping wing and the right flapping wing do not have the same lifting force action point and the gravity center, so that left rolling control moment is generated; on the other hand, as the roll steering engine rotates leftwards, the gravity centers of the roll steering engine and the pitch steering engine move leftwards relative to the gravity center of the aircraft, so that left roll torque is synchronously generated, and the left roll torque generated by the flapping wings is enhanced.
When the aircraft needs to generate right rolling control torque, the flight control sheet sends an instruction, the rolling steering engine drives the rolling steering engine frame to rotate rightwards, on the one hand, the rolling steering engine frame drives the pitching steering engine and the pitching steering engine frame to rotate rightwards, thereby driving the tensioning beams of the left and the right flapping wings to synchronously rotate rightwards around the spherical hinge, leading the wing membrane of the right flapping wing of the aircraft to become loose and the wing membrane of the left flapping wing to become tight, so that the attack angle of the forward flapping and the backward flapping of the right flapping wing is simultaneously reduced, the attack angle of the forward flapping and the backward flapping of the left flapping wing is simultaneously increased, therefore, the lift force of the forward flapping and the backward flapping of the right flapping wing is simultaneously reduced, the lift force of the forward flapping and the backward flapping of the left flapping wing is simultaneously increased, thereby realizing that the lift force of the right flapping wing is reduced in one flapping cycle and the lift force of the left flapping wing is increased in one flapping cycle, the acting points of the lifting force of the left flapping wing and the right flapping wing are not coincident with the gravity center, so that right rolling control moment is generated; on the other hand, as the roll steering engine rotates rightwards, the gravity centers of the roll steering engine and the pitch steering engine move rightwards relative to the gravity center of the aircraft, so that right roll torque is synchronously generated, and the right roll torque generated by the flapping wings is enhanced.
The invention has the advantages that:
(1) a bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change realizes control over the tightness of a wing membrane by a mode that two steering engines respectively drive a flapping wing tensioning beam to rotate, so that the attack angle of a flapping wing is effectively changed, effective control torque is generated, the bionic flapping wing micro air vehicle is a bionic control method, and pitching and rolling control torque can be effectively generated.
(2) A bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change and capable of achieving high control moment generation is characterized in that a connection mode of a flapping wing tensioning beam and a supporting base is changed into spherical hinge connection, the displacement range of the flapping wing tensioning beam can be effectively enlarged, the change range of a flapping wing attack angle is widened, and effective control moment is improved. Meanwhile, the deflection of the steering engine is controlled in a spherical hinge connection mode without overcoming the bending moment of the elastic beam, so that the load of the steering engine can be reduced, and the requirement on aircraft hardware is reduced.
(3) The utility model provides a bionical flapping wing micro aircraft based on two wings are differential and steering wheel focus changes and realize high control torque and produce, insect and hummingbird swing afterbody carries out the counter weight regulation in the imitative nature, through the geometric layout design to the control steering wheel, make the control steering wheel swing realize the counter weight regulation, the focus deflection torque that the control steering wheel produced when controlling flapping wing tensioning roof beam is unanimous with the control torque that corresponds flapping wing attack angle change production, and is rationally distributed, the control torque of bionical flapping wing micro aircraft has effectively been improved, increase the mobility of aircraft. Meanwhile, the flight attitude of the flying vehicle is more similar to that of a hummingbird, and the bionic degree and the hidden flight capability of the flying vehicle are improved.
Drawings
FIG. 1 is a schematic overall view of an active control flapping wing aircraft based on differential aerodynamic forces and center of gravity changes in accordance with the present invention;
FIG. 2 is a schematic view of the flapping wings of an active control flapping wing aircraft based on differential aerodynamic forces and center of gravity changes in accordance with the present invention;
FIG. 3 is a schematic diagram of a portion of the drive train of an active control flapping wing aircraft based on differential aerodynamic forces and center of gravity changes in accordance with the present invention;
FIG. 4 is a schematic diagram of a control system for an active control of an ornithopter based on differential aerodynamic forces and changes in center of gravity according to the present invention;
FIG. 5 is a schematic diagram of the flapping wing aircraft head up and pitch control based on differential aerodynamic force and active control of center of gravity change in accordance with the present invention;
FIG. 6 is a schematic diagram of the present invention in a right roll control of an ornithopter based on active control of differential aerodynamic forces and center of gravity changes;
in the figure:
1-lift system 2-transmission system 3-control system
4-power system
101-main beam 102-flexible beam 103-tension beam
104-wing membrane
201-transmission base 202-support base 203-spindle gear
204-single layer gear 205-double layer gear 206-connecting rod
207-left rocker arm 208-left connecting rod 209-left wing rod
210-right rocker arm 211-right connecting rod 212-right wing rod
301-roll rudder arm 302-roll rudder frame 303-roll steering engine
304-pitching rudder horn 305-pitching rudder frame 306-pitching rudder steering engine
307-flight control unit 308-rotating ball 309-spherical hinge fixing seat
401-power plant 402-battery
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
The bionic flapping wing micro air vehicle for realizing high control moment generation based on double-wing differential motion and steering engine gravity center change comprises a lift system 1, a transmission system 2, a control system 3 and a power system 4.
The lift system 1 consists of a left flapping wing and a right flapping wing, and each flapping wing consists of a main beam 101, a flexible beam 102, a tensioning beam 103 and a wing membrane 104. The wing membrane 104 is a flexible membrane made of polyimide, and the front edge and the side edge of the wing membrane 104 are respectively wrapped into a tubular shape and then fixed by using an adhesive. The main beam 101 and the tension beam 103 respectively penetrate through the tubular space formed by the front edge and the side edge of the wing membrane 104 and can freely rotate around the tubular space. The same sides of the two flexible beams 102 are bonded to one side of the wing membrane in a dispersed state, and form 20 and 50 included angles with the main beam 101 respectively; the root end of the main beam 101 is connected with the wing rod of the transmission system 2, the front edge end of the tension beam 103 is connected with the spherical hinge device of the control system, and the rear edge end is inserted into the tension beam restraining hole of the pitching rudder frame 305 of the control system 2.
The transmission system 2 comprises a transmission base 201, a support base 202, a distribution gear speed reduction group, a connecting rod 206 and a transmission amplifying device. The transmission base 201 is used for fixing the distribution gear reduction group and the power device 401, and comprises mounting hole positions of the distribution gear reduction group and a mounting cavity of the power device 401. The supporting base 202 is used for fixing a transmission amplifying device of the transmission system 2 and a control actuating mechanism and a spherical hinge of the control system 3, and comprises a transmission amplifying device mounting hole site, a constraint chute, a control actuating mechanism mounting hole site and a spherical hinge mounting groove. The distribution gear reduction group comprises a main shaft gear 203, a single-layer gear 204 and a double-layer gear 205. The main shaft gear 203 is arranged on an output shaft of the power device 401, the single-layer gear 204 and the double-layer gear 205 are respectively arranged in preset hole positions of the transmission base, a large-tooth-number gear in the double-layer gear 205 is meshed with the main shaft gear 203, and a small-tooth-number gear is meshed with the single-layer gear 204. One end of the connecting rod 206 is connected to the eccentric hole of the single-layer gear 204, and the other end is coaxially connected with one end of the left rocker arm 207 and one end of the right rocker arm 210 of the transmission amplifying device through rivets and slides smoothly in the restraining sliding groove of the supporting base 202. The transmission amplifying device comprises a left rocker arm 207, a left connecting rod 208, a left wing rod 209, a right rocker arm 210, a right connecting rod 211 and a right wing rod 212, wherein the left rocker arm 207 and the right rocker arm 210 are connected with the corresponding mounting hole positions of the support base 202 through rivets, and can rotate around the mounting hole positions in the middle. The left end of the left rocker arm 207 is connected with the right end of the left connecting rod 208 through a rivet, the left end of the left connecting rod 208 is connected with a hole in the middle of the left wing rod 209 through a rivet, the right end of the left wing rod 209 is riveted with a corresponding mounting hole of the support base 202, and the left wing rod 209 is driven by the left connecting rod 208 to flap around the mounting hole in a reciprocating mode. The right end of the right rocker arm 210 is connected with the left end of the right connecting rod 211 through a rivet, the right end of the right connecting rod 211 is connected with a hole site in the middle of the right wing rod 212 through a rivet, the left end of the right wing rod 212 is riveted with a corresponding mounting hole site of the support base 202, and the right wing rod 212 beats around the mounting hole in a reciprocating manner. The transmission amplifying device changes the linear reciprocating sliding in the horizontal plane of the connecting rod into the reciprocating flapping of the wing on one hand, and amplifies the reciprocating flapping amplitude in a limited space on the other hand, thereby improving the generation of aerodynamic force.
The control system 3 includes a control actuator, a ball joint device, and a flight control unit 307. The control executing mechanism comprises a roll steering engine arm 301, a roll steering engine frame 302, a roll steering engine 303, a pitch steering engine arm 304, a pitch steering engine frame 305 and a pitch steering engine 306. The roll rudder arm 301 is fixed in a control mechanism mounting hole of the support base 202 through a screw, and the roll rudder 303 is fixed in a reserved cavity of the roll rudder frame 302. The rear end of the rolling rudder machine frame 302 and the supporting base 202 form a rotation pair, and the rolling steering machine 303 and the rolling steering machine frame 302 can freely rotate around the axis of the rotation pair. The pitching rudder arm 304 is fixed in the mounting hole of the roll rudder frame 302 through a screw, and the pitching rudder 306 is fixed in the reserved cavity of the pitching rudder frame 305. The rear end of the pitch rudder frame 305 and the reserved hole of the roll rudder frame 302 form a revolute pair, and the pitch rudder 306 and the pitch rudder frame 305 can freely rotate around the axis of the revolute pair. An flapping wing tensioning beam restraining hole position is reserved at the bottom end of the pitching rudder frame 305 and used for restraining the rear edge end of the flapping wing tensioning beam 103. The ball hinge device comprises a left rotating ball 308, a right rotating ball 308, a left ball hinge fixing seat 309 and a right ball hinge fixing seat 309. Wherein the front edge ends of the tension beams 103 of the left and right flapping wings are inserted into the reserved holes of the left and right rotating balls 308. The left and right rotating balls 308 are respectively arranged in the left and right ball hinge mounting grooves of the support base 202, and the left and right ball hinge fixing seats 309 are respectively buckled on the left and right ball hinge mounting grooves, so that a ball hinge connection is formed, and the tensioning beam 103 of the flapping wing can freely rotate around the ball hinge in all directions. The flight control unit 307 is a highly integrated micro flight control board, which at least integrates an STM32F411CE main control chip, an MPU9050 nine-axis sensor, an RFM22B data transmission chip, an MS5611 barometer and the like, and is used for central control calculation, aircraft attitude acquisition, attitude processing, control instruction calculation, air-ground remote data transmission and the like. The flight control unit 307 is fixed to the support base 202 by flexible foam adhesive.
The power system 4 is a power source of the bionic flapping wing aircraft, and the driving system mechanism realizes flapping motion of the flapping wings. The power system comprises a power device 401 and a battery 402, wherein the power device 401 is a hollow cup motor, and the battery 402 is a 7.4V high-performance lithium battery.
A bionic flapping wing micro air vehicle based on double-wing differential motion and steering engine gravity center change to realize high control moment generation has the following pitching control moment generation process: when the aircraft needs to generate a head-up pitching control moment, an instruction is sent out through the flight control unit 307, and the pitching steering engine 306 drives the pitching rudder rack 305 to rotate, so that on one hand, the pitching rudder rack 305 drives the tensioning beams 103 of the left and right flapping wings to synchronously rotate backwards around the spherical hinge, and further the attack angle of the left and right flapping wings of the aircraft is simultaneously reduced when the left and right flapping wings flap forwards, and simultaneously increased when the left and right flapping wings flap backwards, so that the resistance of the left and right flapping wings is reduced when the left and right flapping wings flap forwards, and increased when the flapping wings flap backwards, and because the resistance of the flapping wings flap backwards is backwards and the resistance of the flapping wings is forwards, the left and right flapping wings generate a forwards average resistance in a flapping cycle, and because the resistance is below the position of the center of gravity, the pitching control moment of the head is; on the other hand, as the pitch steering engine 306 rotates, the center of gravity of the pitch steering engine 306 moves backwards relative to the center of gravity of the aircraft, so that a head-up pitch control moment is generated;
when the aircraft needs to generate a low head pitching control moment, an instruction is sent out through the flight control unit 307, and the pitching steering engine 306 drives the pitching rudder frame 305 to rotate, so that on one hand, the pitching rudder frame 305 drives the tensioning beams 103 of the left and right flapping wings to synchronously rotate forwards around the spherical hinge, and further the attack angle of the left and right flapping wings of the aircraft is simultaneously increased when the left and right flapping wings flap forwards, and is simultaneously decreased when the left and right flapping wings flap backwards, so that the resistance of the left and right flapping wings is increased when the left and right flapping wings flap forwards, and is decreased when the flapping wings flap backwards, and the resistance of the flapping wings flap backwards is forward because the resistance of the flapping wings faces backwards, so that the left and right flapping wings generate backward average resistance in a flapping cycle, and the resistance is below the gravity center position, thereby generating the low head pitching control moment; on the other hand, as the pitch actuators 306 rotate, the center of gravity of the pitch actuators 306 moves forward relative to the center of gravity of the aircraft, thereby generating a low head pitch control moment.
A bionic flapping wing micro aircraft based on double-wing differential motion and steering engine gravity center change and capable of realizing high control torque generation has the following rolling control torque generation process: when the aircraft needs to generate a left rolling control moment, a command is sent out through the flight control unit 307, the rolling steering engine 303 drives the rolling steering engine frame 302 to rotate to the left, on one hand, the rolling steering engine frame 302 drives the pitching steering engine 306 and the pitching steering engine frame 305 to rotate to the left, and further drives the tensioning beam 103 of the left flapping wing and the right flapping wing to synchronously rotate to the left around a spherical hinge, so that the wing membrane of the right flapping wing of the aircraft is tightened, the wing membrane of the left flapping wing is loosened, the attack angle of the forward flapping and the backward flapping of the right flapping wing is increased simultaneously, the attack angle of the forward flapping and the backward flapping of the left flapping wing is decreased simultaneously, the lift force of the forward flapping and the backward flapping of the right flapping wing is increased simultaneously, the lift force of the forward flapping and the backward flapping of the left flapping wing is decreased simultaneously, the lift force of the right flapping wing is increased in one flapping cycle, the lift force of the left flapping wing is decreased in one flapping cycle, and the action point of the left and right flapping wings are not coincident, thereby generating a left roll control torque; on the other hand, as the roll steering engine rotates leftwards, the gravity centers of the roll steering engine and the pitch steering engine move leftwards relative to the gravity center of the aircraft, so that left roll torque is synchronously generated, and the left roll torque generated by the flapping wings is enhanced.
When the aircraft needs to generate right rolling control torque, a command is sent out through the flight control unit 307, the rolling steering gear 303 drives the rolling steering gear frame 302 to rotate rightwards, on one hand, the rolling steering gear frame 302 drives the pitching steering gear 306 and the pitching steering gear frame 305 to rotate rightwards, and further drives the tensioning beam 103 of the left flapping wing and the right flapping wing to synchronously rotate rightwards around a spherical hinge, so that the wing membrane of the right flapping wing of the aircraft is loosened, the wing membrane of the left flapping wing is tightened, the attack angle of the forward flapping and the backward flapping of the right flapping wing is simultaneously reduced, the attack angle of the forward flapping and the backward flapping of the left flapping wing is simultaneously increased, therefore, the lift force of the forward flapping and the backward flapping of the right flapping wing is simultaneously reduced, the lift force of the forward flapping and the backward flapping of the left flapping wing is simultaneously increased, the lift force of the right flapping wing is increased in one flapping cycle, the lift force of the left flapping wing is increased in one flapping cycle, and the action points of the left flapping wing and the, thereby generating a right roll control torque; on the other hand, as the roll steering engine rotates rightwards, the gravity centers of the roll steering engine and the pitch steering engine move rightwards relative to the gravity center of the aircraft, so that right roll torque is synchronously generated, and the right roll torque generated by the flapping wings is enhanced.
Claims (9)
1. The utility model provides a bionical flapping wing micro air vehicle based on two wing are differential and steering wheel focus changes and realize high control torque and produce, includes lift system, transmission system, control system and driving system, its characterized in that:
the flapping wings comprise main beams, flexible beams, tensioning beams and wing membranes;
the transmission system comprises a transmission base, a supporting base, a distribution gear speed reduction group, a connecting rod and a transmission amplifying device;
the control system comprises a control execution mechanism, a spherical hinge device and a flight control unit, wherein the control execution mechanism comprises a roll steering engine arm, a roll steering engine frame, a roll steering engine, a pitch steering engine arm, a pitch steering engine frame and a pitch steering engine;
the power system is a power source of the bionic flapping wing aircraft, comprises a power device and a battery, and drives the transmission system to realize flapping motion of the flapping wing;
a rolling steering engine arm of the control execution mechanism is fixed in a control mechanism mounting hole of the support base through a screw, and the rolling steering engine is fixed in a reserved cavity of the rolling steering engine frame; the rear end of the rolling rudder machine frame and the supporting base form a rotating pair, and the rolling steering machine and the rolling rudder machine frame can freely rotate around the axis of the rotating pair; the pitching rudder machine arm is fixed in a reserved mounting hole of the rolling rudder machine frame through a screw, and the pitching rudder machine is fixed in a reserved cavity of the pitching rudder machine frame; the rear end of the pitching rudder frame and a reserved hole position of the rolling rudder frame form a rotating pair, and the pitching rudder frame can freely rotate around the axis of the rotating pair; a flapping wing tensioning beam restraining hole position is reserved at the bottom end of the pitching steering engine frame and used for restraining the rear edge end of the flapping wing tensioning beam; the spherical hinge device comprises a left rotating ball, a right rotating ball, a left spherical hinge fixing seat and a right spherical hinge fixing seat; the front edge ends of the tensioning beams of the left flapping wing and the right flapping wing are inserted into the reserved hole positions of the left rotating ball and the right rotating ball; the left and right rotating balls are respectively arranged in the left and right spherical hinge mounting grooves of the supporting base, the left and right spherical hinge fixing seats are respectively buckled on the left and right spherical hinge mounting grooves, so that spherical hinge connection is formed, and the tensioning beam of the flapping wing can freely rotate around the spherical hinge in all directions.
2. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of high control moment as claimed in claim 1, wherein the front edge and the side edge of the wing membrane are respectively wrapped into a tube shape and then fixed by an adhesive; the main beam and the tensioning beam respectively penetrate through a tubular space formed by the front edge and the side edge of the wing membrane and can freely rotate around the axis of the tubular space; the two flexible beams are bonded on the same side of the wing membrane and form included angles of 20 degrees and 50 degrees with the main beam respectively; the main beam wing root end is connected with a wing rod of the transmission system, the front edge end of the tensioning beam is connected with a spherical hinge device of the control system, and the rear edge end of the tensioning beam is inserted into a tensioning beam restraining hole of a pitching rudder rack of the control system.
3. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of high control moment as claimed in claim 1, wherein the transmission base comprises mounting hole sites for the distribution gear reduction group and a mounting cavity for the power device, which are respectively used for fixing the distribution gear reduction group and the power device; the supporting base comprises a transmission amplifying device mounting hole site, a constraint chute, a control actuating mechanism mounting hole site and a spherical hinge mounting groove, and is used for fixing the transmission amplifying device of the transmission system and the control actuating mechanism and the spherical hinge of the control system; the distributed gear reduction group comprises a main shaft gear, a single-layer gear and a double-layer gear, the main shaft gear is arranged on an output shaft of the power device, the single-layer gear and the double-layer gear are respectively arranged in preset hole positions of the transmission base, a large-tooth-number gear in the double-layer gear is meshed with the main shaft gear, and a small-tooth-number gear in the double-layer gear is meshed with the single-layer gear; one end of the connecting rod is connected to the eccentric hole position of the single-layer gear, and the other end of the connecting rod is coaxially connected with one end of a left rocker arm and one end of a right rocker arm of the transmission amplifying device through rivets and slides smoothly in the restraining sliding groove of the supporting base; the transmission amplifying device comprises a left rocker arm, a left connecting rod, a left wing rod, a right rocker arm, a right connecting rod and a right wing rod, wherein the left rocker arm and the right rocker arm are connected with the corresponding mounting hole positions of the supporting base through rivets and can rotate around the mounting hole positions in the middle; the left end of the left rocker arm is connected with the right end of the left connecting rod through a rivet, the left end of the left connecting rod is connected with a hole site in the middle of the left wing rod through a rivet, the right end of the left wing rod is riveted with a corresponding mounting hole site of the support base, and the left wing rod is driven by the left connecting rod to flap around the mounting hole in a reciprocating manner; the right end of the right rocker arm is connected with the left end of the right connecting rod through a rivet, the right end of the right connecting rod is connected with a hole site in the middle of the right wing rod through a rivet, the left end of the right wing rod is riveted with a corresponding mounting hole site of the support base, and the right wing rod is driven by the left connecting rod to flap around the mounting hole in a reciprocating mode.
4. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control moment as claimed in claim 1, wherein the control system flight control unit is a high-integration micro flight control board, wherein at least an STM32F411CE main control chip, an MPU9050 nine-axis sensor, an RFM22B data transmission chip and an MS5611 barometer are integrated, and are used for central control calculation, aircraft attitude acquisition, attitude processing, control instruction calculation and air-ground remote data transmission.
5. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control moment as claimed in claim 1 or 4, wherein the flight control unit is fixed on the support base through flexible foam rubber.
6. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control moment as claimed in claim 1, wherein the power system power device is a hollow cup motor, and the battery is a high-performance lithium battery.
7. The bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control moment as the claim 1, wherein the wing membrane is a light and windproof flexible membrane made of materials including but not limited to polyimide, non-woven fabric and nylon.
8. The method for generating the pitching control moment of the bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control moment as claimed in any one of claims 1 to 7 comprises the following steps: when the aircraft needs to generate pitching control torque, the flight control unit sends an instruction, and the pitching steering engine drives the pitching steering engine frame to rotate; on one hand, the pitching rudder frame drives the tensioning beams of the left and right flapping wings to synchronously rotate back and forth around the spherical hinge, so that the upward flapping attack angles of the left and right flapping wings of the aircraft are simultaneously increased or reduced, the downward flapping attack angles are simultaneously reduced or increased, the resistance is increased or reduced when the left and right flapping wings are upward flapping, and the resistance is reduced or increased when the left and right flapping wings are downward flapping, so that non-zero periodic average resistance is generated, and the pitching control moment is generated because the resistance and the gravity center are not in the same horizontal plane; on the other hand, the gravity center of the pitching steering engine moves back and forth relative to the gravity center of the aircraft due to the rotation of the pitching steering engine, and a pitching control moment is further generated.
9. The method for generating the roll control torque of the bionic flapping wing micro air vehicle based on the double-wing differential motion and the steering engine gravity center change to realize the generation of the high control torque as claimed in any one of claims 1 to 7 comprises the following steps: when the aircraft needs to generate rolling control torque, the flight control unit sends an instruction, and the rolling steering engine drives the rolling steering engine frame to rotate; on one hand, the rolling steering engine frame drives the pitching steering engine and the pitching steering engine frame to rotate, so as to drive the tensioning beams of the left and right flapping wings to synchronously rotate left and right around the spherical hinge, so that the upper and lower flapping angles of the left flapping wing of the aircraft are simultaneously increased or decreased, the upper and lower flapping angles of the right flapping wing are simultaneously decreased or increased, the lifting force of the left flapping wing is increased or decreased during the upper and lower flapping, the lifting force of the right flapping wing is decreased or increased during the upper and lower flapping, the periodic average lifting force of the left and right flapping wings is unbalanced, and the lifting force action points and the gravity center of the left and right flapping wings are not coincident, so that the rolling control moment is generated; on the other hand, as the rolling steering engine rotates, the gravity centers of the rolling steering engine and the pitching steering engine move left and right relative to the gravity center of the aircraft, so that rolling torque is generated.
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