CN112009682A - A bionic flapping-wing micro-aircraft based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque - Google Patents

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

A simulation method based on the differential motion of the wings and the change of the center of gravity of the steering gear to realize the generation of high control torque. flapping wing micro air vehicle

technical field

The invention relates to the field of micro-aircraft, in particular to a bionic flapping-wing micro-aircraft which realizes the generation of high control torque based on the differential motion of two wings and the change of the center of gravity of the steering gear.

Background technique

With the rapid development of MEMS processing, information remote sensing, computer science and other technologies, MAVs have begun to change from concept to reality. MAVs have broad application prospects in military fields such as reconnaissance and surveillance, low-altitude patrols, and anti-terrorism blasting, as well as civilian fields such as mimic observation and fire and disaster relief. At present, according to the principle of flight, MAVs are roughly divided into three categories: fixed-wing MAVs, rotary-wing MAVs and bionic flapping-wing MAVs.

MAVs are small in size and low in flight speed, and their wings are in a flow with a low Reynolds number during flight. At this time, the fixed-wing MAV and the rotary-wing MAV are generally limited by the flight principle, with low aerodynamic efficiency and poor maneuverability. limits. In recent years, through the in-depth study of insect flight, the concept of bionic flapping-wing MAV has been proposed. With the help of wing flaps similar to insect wings, the bionic flapping-wing MAV has high lift generation capability and high aerodynamic efficiency at low Reynolds number, which makes this layout more concealed than fixed-wing and rotary-wing MAVs, which is beneficial to micro-vehicles. Due to the advantages of miniaturization and other advantages, the bionic flapping-wing MAV has also become a design hotspot of the current MAV.

Most bionic flapping-wing MAVs adopt a tailless layout, and how to find an equivalent control surface to generate high control torque is a major problem in their design. Most of the currently disclosed bionic flapping-wing MAVs usually use flapping wings as equivalent rudder surfaces. Most of these types of aircraft use the steering gear installed at the root of the wing to pull the wing root beam of the flapping wing, so that the tension of the membrane when each wing is shot up and down is increased. Change, so as to adjust the angle of attack of the flapping wing up and down, realize the change of the aerodynamic force and finally generate the control torque. For example, the patent with the publication number of CN 109606675 A "A Micro Bionic Flapping-wing Micro Air Vehicle Based on a Single Crank and Double Rocker Mechanism" adopts such a design scheme. In the bionic flapping-wing aircraft using this control scheme, the top of the tension beam of the flapping wing is mostly fixed on the base to form a cantilever beam. When the control steering gear pulls the tension beam, the tension beam bends and deforms around the fixed end of the top to generate tension Changes in beam position. Limited by the stroke and spatial arrangement of the linear steering gear, the overall bending degree of the wing root beam is not large enough, the pulling of the wing membrane is not large enough, and the deformation of the wing membrane is not obvious, so the change of the flapping angle of attack is not obvious, and the control torque generated is limited.

Although the above method can change the deformation of the flapping wing membrane to a certain extent, adjust the angle of attack of the flapping wing, and generate a control moment, the specific implementation is limited by space and structural design, and the displacement of the tension beam with the steering gear is limited, resulting in Control torque is limited. In addition, when the micro flapping-wing aircraft needs a large control torque, since it completely relies on the flapping wing as the control surface, the angle of attack of the flapping wing changes greatly, and it is difficult for the flapping wing to work within the range of the angle of attack with high aerodynamic efficiency. , and also affects the generation of high lift of the flapping wing. Therefore, in addition to realizing the control torque generation by means of the flapper itself, it is also necessary to invent some other control torque generation methods.

SUMMARY OF THE INVENTION

Aiming at the current situation that the existing bionic flapping-wing micro-aircraft only obtains the control torque by controlling the deformation of the flapping-wing membrane, and in order to solve the problems of the limited change range of the angle of attack, the generated control torque is small, and the control torque generated in a single form, the present invention proposes A bionic flapping-wing micro-aircraft based on bi-wing differential and the change of the center of gravity of the steering gear realizes the generation of high control torque, so as to meet the requirements of high control torque generation during high maneuvering flight of the aircraft.

A bionic flapping-wing micro-aircraft based on bi-wing differential and the change of the center of gravity of the steering gear realizes the generation of high control torque, including a lift system, a transmission system, a control system and a power system.

The lift system is composed of left and right flapping wings, and each flapping wing is composed of a main beam, a flexible beam, a tension beam and a wing membrane. The wing film is a flexible film, made of polyimide material, and the front edge and the side edge of the wing film are respectively wrapped into tubes and then fixed with an adhesive. The main beam and the tension beam respectively pass through the tubular space formed by the leading edge and the side edge of the wing membrane, and can freely rotate around the tubular space. The two flexible beams are bonded to one side of the wing membrane in a dispersive shape on the same side, respectively forming an included angle of 20° and 50° with the main beam; the wing root end of the main beam is connected with the wing rod of the transmission system, and the leading edge end of the tension beam is connected to the main beam. The ball joint device of the control system is connected, and the trailing edge end is inserted into the restraint hole of the tension beam of the pitch rudder frame of the control system.

The transmission system includes a transmission base, a support base, a distributed gear reduction group, a connecting rod, and a transmission amplifying device. The transmission base includes an installation hole of the distribution gear reduction group and an installation cavity of the power device, which are respectively used for fixing the distribution gear reduction group and the power device. The support base includes a transmission amplifying device installation hole, a constraint chute, a control actuator installation hole and a ball hinge installation groove, a fixed transmission amplifying device for fixing the transmission system, and the control actuator and the ball hinge of the control system. The distributed gear reduction group includes a main shaft gear, a single-layer gear and a double-layer gear. The main shaft gear is installed on the output shaft of the power unit, the single-layer gear and the double-layer gear are respectively installed in the predetermined holes of the transmission base, the large-tooth gear in the double-layer gear meshes with the main shaft gear, and the small-tooth gear meshes with the single-layer gear. One end of the connecting rod is connected to the eccentric hole of the single-layer gear, and the other end is coaxially connected to one end of the left rocker arm and the right rocker arm of the transmission amplifying device through rivets, and slides smoothly in the constraint chute of the support base. The transmission amplifying device includes 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. It can be rotated around the middle mounting hole. The left end of the left rocker arm and the right end of the left connecting rod are connected by rivets, the left end of the left connecting rod and the hole in the middle of the left wing rod are connected by rivets, the right end of the left wing rod is riveted with the corresponding mounting hole of the support base, and the left wing rod is in the left connecting rod Under the driving force of the machine, it flaps back and forth around the mounting hole. The right end of the right rocker arm and the left end of the right connecting rod are connected by rivets, the right end of the right connecting rod and the hole in the middle of the right wing rod are connected by rivets, the left end of the right wing rod is riveted with the corresponding mounting hole of the support base, and the right wing rod is wound around the mounting hole Beat back and forth.

The control system includes a control actuator, a ball joint device and a flight control unit. The control actuator includes a roll servo arm, a roll servo frame, a roll servo, a pitch servo arm, a pitch servo frame and a pitch servo. The roll steering gear arm is fixed in the mounting hole of the control mechanism of the support base by screws, and the roll steering gear is fixed in the reserved cavity of the roll steering frame. The rear end of the rolling steering frame and the supporting base form a rotating pair, and the rolling steering gear and the rolling steering frame can freely rotate around the axis of the rotating pair. The pitch servo arm is fixed in the mounting hole of the roll servo frame by screws, and the pitch servo is fixed in the reserved cavity of the pitch servo frame. The rear end of the pitching rudder frame and the reserved holes of the rolling rudder frame form a rotating pair, and the pitching servo and the pitching rudder frame can freely rotate around the axis of the rotating pair. The bottom end of the pitching rudder frame is reserved with a constraining hole for the flapping wing tensioning beam, which is used to constrain the trailing edge of the flapping wing tensioning beam. The ball hinge device includes left and right rotating balls and left and right ball hinge fixing seats. The leading edge ends of the tension beams of the left and right flapping wings are inserted into the reserved holes of the left and right rotating balls. The left and right rotating balls are respectively placed in the left and right spherical hinge installation grooves of the support base, and the left and right spherical hinge fixing bases are respectively buckled on the left and right spherical hinge installation grooves, thereby forming a spherical hinge connection and flapping wings. The tightening beam can realize free rotation around the ball hinge, front and rear, left and right. The flight control unit is a highly integrated miniature flight control board, which integrates at least STM32F411CE main control chip, MPU9050 nine-axis sensor, RFM22B data transmission chip and MS5611 barometer, etc., which are used for central control calculation, collecting aircraft attitude, attitude processing, and control commands. Computing and air-to-ground remote data transmission, etc. The flight control unit is fixed on the support base by flexible foam glue.

The power system is the power source of the bionic flapping-wing aircraft, and the drive system mechanism realizes the flapping motion of the flapping wings. The power system includes a power unit and a battery, wherein the power unit is a hollow cup motor, and the battery is a high-performance lithium battery.

The generation process of the pitch control torque of a bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque is as follows:

When the aircraft needs to generate a head-up pitch control torque, the flight control unit sends an instruction, and the pitch servo drives the pitch rudder frame to rotate. Rotate, and then the angle of attack decreases when the left and right flapping wings of the aircraft flap forward, and increases at the same time when flapping backward, so that the resistance decreases when the left and right flapping wings are flapping forward, and when flapping backwards The resistance increases. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backward, the left and right flapping wings generate forward average resistance in one flapping cycle. Since the resistance is below the center of gravity, Therefore, the pitch control torque of the head-up is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves backward relative to the center of gravity of the aircraft, thereby generating the head-up pitch control torque;

When the aircraft needs to generate a pitch control torque, the flight control unit sends an instruction, and the pitch servo drives the pitch rudder frame to rotate. Rotate forward, and then the left and right flapping wings of the aircraft will increase the angle of attack at the same time when flapping forward, and decrease at the same time when flapping backwards. The resistance is reduced. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backward, the left and right flapping wings generate an average backward resistance in a flapping cycle. Since the resistance is below the center of gravity, Thereby, the pitch control torque of the head-down is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves forward relative to the center of gravity of the aircraft, thereby generating the head-down pitch control torque.

The generation process of the roll control torque of a bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque is as follows:

When the aircraft needs to generate a left roll control torque, the flight control unit sends an instruction, and the roll servo drives the roll servo frame to rotate to the left. On the one hand, the roll servo frame drives the pitch servo and pitch servo frame. Rotate to the left, and then drive the tension beams of the left and right flapping wings to rotate to the left synchronously around the spherical hinge, so that the right flapping wing membrane of the aircraft is tightened, and the left flapping wing membrane is loosened, so that the right flapping wing flaps forward and The angle of attack of the backward flap increases at the same time, and the angle of attack of the left flapping wing decreases at the same time, so the lift of the right flapping wing forward and backward simultaneously increases, and the left flapping wing increases simultaneously. The lift forces of forward flapping and backward flapping are reduced at the same time, so that the lift force of the right flapping wing increases in one flapping cycle, and the lift force decreases in one flapping cycle of the left flapping wing. The center of gravity does not overlap, resulting in a left roll control torque; on the other hand, because the roll servo turns to the left, the center of gravity of the roll servo and pitch servo moves to the left relative to the center of gravity of the aircraft, and a left roll is generated synchronously moment, which enhances the left roll moment produced by the flapping wing.

When the aircraft needs to generate a right roll control torque, the flight control sheet sends an instruction, and the roll servo drives the roll servo frame to rotate to the right. On the one hand, the roll servo frame drives the pitch servo and pitch servo frame. Rotate to the right, and then drive the tension beams of the left and right flapping wings to rotate to the right synchronously around the spherical hinge, so that the right flapping wing membrane of the aircraft becomes loose, and the left flapping wing membrane becomes tight, so that the right flapping wing flaps forward and The angle of attack of the backward flap decreases at the same time, and the angle of attack of the left flap forward and backward simultaneously increases, so the lift of the right flap forward and backward simultaneously decreases, and the left flap The lift of the wing flapping forward and backward simultaneously increases, so that the lift force of the right flapping wing decreases in one flapping cycle, and the lift force increases in one flapping cycle of the left flapping wing. The center of gravity does not overlap, resulting in a right roll control torque; on the other hand, because the roll servo rotates to the right, the center of gravity of the roll servo and pitch servo moves to the right relative to the center of gravity of the aircraft, and a right roll is generated synchronously moment, which enhances the right roll moment produced by the flapping wing.

The advantages of the present invention are:

(1) A bionic flapping-wing micro-aircraft based on the differential motion of the two wings and the change of the center of gravity of the steering gear to achieve high control torque, and the control of the tightness of the wing membrane is realized by the two steering gears respectively driving the flapping-wing tension beam to rotate, Therefore, the flapping angle of attack can be effectively changed, and effective control torque is generated. It is a bionic control method, which can effectively generate pitch and roll control torque.

(2) A bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque. By changing the connection between the flapping-wing tension beam and the support base into a spherical hinge connection, the flapping-wing can be effectively increased. The displacement range of the elastic beam is increased, thereby increasing the variation range of the flapping wing attack angle and increasing the effective control moment. At the same time, the connection method of the ball joint makes it possible to control the deflection of the steering gear without overcoming the bending moment of the elastic beam, which can reduce the load of the steering gear and reduce the demand for aircraft hardware.

(3) A bionic flapping-wing MAV based on the differential motion of the wings and the change of the center of gravity of the steering gear to achieve high control torque. It imitates the swinging tail of insects and hummingbirds in nature to adjust the weight. Through the geometric layout design of the steering gear, the Control the swing of the steering gear to adjust the weight, and the deflection moment of the center of gravity generated when the steering gear controls the flapping-wing tension beam is consistent with the control moment generated by the corresponding flapping-wing angle of attack. The layout is reasonable and effectively improves the bionic flapping-wing MAV. The control torque increases the maneuverability of the aircraft. At the same time, its flight attitude is more similar to that of hummingbirds, which increases the bionic degree and concealed flight ability of the aircraft.

Description of drawings

Fig. 1 is a kind of overall schematic diagram of the flapping aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;

Fig. 2 is a kind of flapping-wing schematic diagram of the flapping-wing aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;

Fig. 3 is a kind of schematic diagram of the transmission system of a flapping aircraft based on differential aerodynamic force and active control of center of gravity change of the present invention;

4 is a schematic diagram of a control system of a flapping-wing aircraft based on differential aerodynamic force and active control of the center of gravity change of the present invention;

Fig. 5 is a kind of schematic diagram of the present invention during the head-up and pitch control of the flapping aircraft based on the differential aerodynamic force and the active control of the center of gravity change;

6 is a schematic diagram of the present invention during the right roll control of the flapping-wing aircraft based on differential aerodynamic force and active control of the center of gravity change;

In the picture:

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-Main shaft gear

204-Single gear 205-Double gear 206-Link

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 servo arm 302-Roll servo frame 303-Roll servo

304-Tilt servo arm 305-Tilt servo frame 306-Tilt servo

307-Flight control unit 308-Rotating ball 309-Ball joint fixing seat

401-Power unit 402-Battery

Detailed ways

The specific implementation method of the present invention will be described in detail below with reference to the accompanying drawings.

The bionic flapping-wing micro-aircraft that realizes high control torque generation based on the differential motion of the two wings and the change of the center of gravity of the steering gear includes a lift system 1 , a transmission system 2 , a control system 3 and a power system 4 .

The lift system 1 is composed of left and right flapping wings, and each flapping wing is composed of a main beam 101 , a flexible beam 102 , a tension beam 103 and a wing membrane 104 . The wing film 104 is a flexible film made of polyimide material. The front edge and the side edge of the wing film 104 are respectively wrapped into tubes and then fixed with an adhesive. The main beam 101 and the tension beam 103 respectively pass 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 two flexible beams 102 are bonded to one side of the wing membrane in a dispersive manner on the same side, respectively forming an included angle of 20 and 50 with the main beam 101; the wing root end of the main beam 101 is connected with the wing rod of the transmission system 2, and the tension beam 103 The leading edge end of the control system is connected with the ball joint device of the control system, and the trailing edge end is inserted into the tension beam restraint hole position of the pitch rudder frame 305 of the control system 2 .

The transmission system 2 includes a transmission base 201, a support base 202, a distributed gear reduction group, a connecting rod 206, and a transmission amplifying device. The transmission base 201 is used to fix the distributed gear reduction group and the power device 401 , and includes the installation holes of the distributed gear reduction group and the installation cavity of the power device 401 . The support base 202 is used to fix the transmission amplifying device of the transmission system 2 and the control actuator and the spherical hinge of the control system 3, and includes the mounting hole of the transmission amplifying device, the constraint chute, the mounting hole of the control actuator and the mounting groove of the spherical hinge, . The distributed gear reduction group includes a main shaft gear 203 , a single-layer gear 204 and a double-layer gear 205 . The main shaft gear 203 is installed on the output shaft of the power unit 401, the single-layer gear 204 and the double-layer gear 205 are respectively installed in the predetermined holes of the transmission base. Meshes with 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 to one end of the left rocker arm 207 and the right rocker arm 210 of the transmission amplifying device through rivets, and is smoothly in the constraining chute of the support base 202. slide. The transmission amplifying device includes 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 realized by rivets. The base 202 corresponds to the connection of the installation holes, and can rotate around the middle installation holes. The left end of the left rocker arm 207 and the right end of the left connecting rod 208 are connected by rivets, the left end of the left connecting rod 208 and the hole in the middle of the left wing bar 209 are connected by rivets, and the right end of the left wing bar 209 is riveted with the corresponding mounting hole of the support base 202, The left wing rod 209 flaps back and forth around the mounting hole under the driving of the left connecting rod 208 . The right end of the right rocker arm 210 and the left end of the right connecting rod 211 are connected by rivets, the right end of the right connecting rod 211 and the hole in the middle of the right wing bar 212 are connected by rivets, and the left end of the right wing bar 212 is riveted with the corresponding mounting hole of the support base 202, The right wing lever 212 flaps back and forth around the mounting hole. On the one hand, the transmission amplifying device transforms the linear reciprocating sliding in the horizontal plane of the connecting rod into the reciprocating flapping of the wing, and on the other hand, amplifies the reciprocating flapping amplitude in a limited space, which improves 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 execution mechanism includes a roll steering gear arm 301 , a roll steering gear frame 302 , a roll steering gear 303 , a pitch steering gear arm 304 , a pitch steering gear frame 305 and a pitch steering gear 306 . The roll steering gear arm 301 is fixed in the control mechanism installation hole of the support base 202 by screws, and the roll steering gear 303 is fixed in the reserved cavity of the roll steering gear frame 302 . The rear end of the roll steering frame 302 and the support base 202 form a rotation pair, and the roll steering gear 303 and the roll steering frame 302 can freely rotate around the axis of the rotation pair. The pitch steering gear arm 304 is fixed in the mounting hole of the rolling steering frame 302 by screws, and the pitch steering gear 306 is fixed in the reserved cavity of the pitch steering frame 305 . The rear end of the pitch rudder frame 305 and the reserved hole of the roll rudder frame 302 form a rotation pair, and the pitch servo 306 and the pitch rudder frame 305 can freely rotate around the axis of the rotation pair. The bottom end of the pitch rudder frame 305 is reserved with a flapping wing tension beam restraint hole for restraining the trailing edge end of the flapper tension beam 103 . The ball hinge device includes left and right rotating balls 308 and left and right ball hinge fixing bases 309 . 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 placed in the left and right ball hinge installation grooves of the support base 202, and the left and right ball hinge fixing bases 309 are respectively buckled on the left and right ball hinge installation grooves, thereby forming a ball hinge connection. The tension beam 103 of the wing can be freely rotated around the spherical hinge, back and forth, left and right. The flight control unit 307 is a highly integrated miniature flight control board, which integrates at least the STM32F411CE main control chip, the MPU9050 nine-axis sensor, the RFM22B data transmission chip and the MS5611 barometer, etc., which are used for central control calculation, collection of aircraft attitude, attitude processing, and control. Command calculation and air-to-ground remote data transmission, etc. The flight control unit 307 is fixed on the support base 202 by flexible foam glue.

The power system 4 is the power source of the bionic flapping-wing aircraft, and the drive system mechanism realizes the flapping motion of the flapping wings. The power system includes 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-aircraft based on the differential action of the wings and the change of the center of gravity of the steering gear realizes the generation of the high control torque. The machine 306 drives the pitching rudder frame 305 to rotate. On the one hand, the pitching rudder frame 305 drives the tension beams 103 of the left and right flapping wings to rotate backwards synchronously around the spherical hinge, so that when the left and right flapping wings of the aircraft flap forward The angle of attack decreases at the same time, and the angle of attack increases at the same time when flapping backward, so that the resistance of the left and right flapping wings is reduced when flapping forward, and the resistance is increased when flapping backward. Because the resistance is backward when flapping forward, When flapping backwards, the resistance is forward, so the left and right flapping wings generate forward average resistance in one flapping cycle. Since the resistance is below the center of gravity, the pitch control moment of the head is generated; on the other hand, due to the pitching The rotation of the steering gear 306 causes the center of gravity of the pitch steering gear 306 to move backward relative to the center of gravity of the aircraft, thereby generating a head-up pitch control torque;

When the aircraft needs to generate a pitch control torque, the flight control unit 307 issues an instruction, and the pitch steering gear 306 drives the pitch rudder frame 305 to rotate. It rotates forward synchronously around the ball hinge, and then the angle of attack increases at the same time when the left and right flapping wings of the aircraft flap forward, and decreases at the same time when flapping backward, so that the resistance increases when the left and right flapping wings flap forward. The resistance decreases when flapping backwards. Since the resistance is backward when flapping forward, and the resistance is forward when flapping backwards, the left and right flapping wings generate average backward resistance in one flapping cycle. On the other hand, due to the rotation of the pitch servo 306, the center of gravity of the pitch servo 306 moves forward relative to the center of gravity of the aircraft, thereby generating the head-down pitch control torque.

A bionic flapping-wing micro-aircraft based on the differential motion of the wings and the change of the center of gravity of the steering gear realizes the generation of the high control torque. The roll rudder 303 drives the roll rudder frame 302 to rotate to the left. On the one hand, the roll rudder frame 302 drives the pitch servo 306 and the pitch rudder frame 305 to rotate to the left, thereby driving the left and right flapping wings The tension beam 103 rotates synchronously to the left around the spherical hinge, so that the right flapping wing membrane of the aircraft becomes tighter, and the left flapping wing membrane becomes loose, so that the angle of attack of the right flapping wing flapping forward and backward simultaneously increases, and the left flapping wing flaps at the same time. The angle of attack of the forward flap and backward flap of the flapping wing decreases at the same time, so the lift of the right flapping wing forward and backward flap simultaneously increases, and the lift of the left flapping wing forward and backward flap At the same time, it decreases, so that the lift force of the right flapping wing increases in one flapping cycle, and the lift force decreases in one flapping cycle of the left flapping wing. Since the lift action points of the left and right flapping wings do not coincide with the center of gravity, the left roll control moment is generated. ; On the other hand, since the roll servo turns to the left, the center of gravity of the roll servo and pitch servo moves to the left relative to the center of gravity of the aircraft, which simultaneously generates a left roll torque and enhances the left roll generated by the flapping wing. moment.

When the aircraft needs to generate a right roll control torque, the flight control unit 307 issues an instruction, and the roll steering gear 303 drives the roll steering frame 302 to rotate to the right. On the one hand, the roll steering frame 302 drives the pitch steering gear 306 and the pitch rudder frame 305 rotate to the right, and then drive the tension beams 103 of the left and right flapping wings to rotate to the right synchronously around the spherical hinge, so that the right flapping wing membrane of the aircraft becomes loose, and the left flapping wing membrane becomes tight, so that the right flapping wing membrane is tightened. The angle of attack of the forward flap and backward flap of the flapping wing decreases at the same time, and the angle of attack of the left flapping wing forward and backward flap simultaneously increases, so the forward flap and backward flap of the right flapping wing increase. The lift force decreases at the same time, and the lift force of the left flapping wing flaps forward and backward at the same time increases, so that the lift force of the right flapping wing decreases in one flapping cycle, and the lift force increases in one flapping cycle of the left flapping wing. The lift point of the right flapping wing does not coincide with the center of gravity, resulting in a right roll control torque; on the other hand, because the roll servo turns to the right, the center of gravity of the roll servo and pitch servo is to the right relative to the center of gravity of the aircraft Moving, the right roll moment is generated synchronously, and the right roll moment generated by the flapping wing is enhanced.

Claims (9)

1. a bionic flapping-wing micro-vehicle that realizes high control torque generation based on bi-wing differential and steering gear center of gravity changes, comprises lift system, transmission system, control system and power system, it is characterized in that: The lift system includes two left and right flapping wings, and the flapping wings include a main beam, a flexible beam, a tension beam and a wing membrane; The transmission system includes a transmission base, a support base, a distributed gear reduction group, a connecting rod and a transmission amplifying device; The control system includes a control actuator, a ball joint device and a flight control unit, the control actuator includes a roll steering arm, a roll steering frame, a roll steering gear, a pitch steering arm, a pitch steering frame and pitch steering gear; The power system is the power source of the bionic flapping-wing aircraft, including a power device and a battery, and drives the transmission system to realize the flapping motion of the flapping wings; The roll steering arm of the control actuator is fixed in the control mechanism installation hole of the support base by screws, and the roll steering gear is fixed in the reserved cavity of the roll steering frame; the The rear end of the roll steering frame and the support base form a rotation pair, and the roll steering gear and the roll steering frame can freely rotate around the axis of the rotation pair; the pitch steering gear arm is fixed to the In the reserved installation holes of the rolling rudder frame, the pitching rudder is fixed in the reserved cavity of the pitching rudder frame; the rear end of the pitching rudder frame is connected to the rolling rudder frame The reserved holes of the rudder form a rotation pair, and the pitch steering gear and the pitch rudder frame can freely rotate around the axis of the rotation pair; the bottom end of the pitch rudder frame is reserved with a flapping wing tension beam restraint hole, Used to constrain the trailing edge of the flapping wing tension beam; the ball hinge device includes left and right rotating balls and left and right ball hinge fixing seats; the front edge ends of the left and right flapping wing tension beams are inserted in the reserved hole positions of the left and right rotating balls; the left and right rotating balls are respectively placed in the left and right spherical hinge installation grooves of the support base, and the left and right spherical hinge fixing seats are respectively It is buckled on the left and right spherical hinge installation grooves to form a spherical hinge connection, and the tension beam of the flapping wing can freely rotate around the spherical hinge front, back, left and right. 2. a kind of bionic flapping-wing micro-vehicle that realizes high control torque generation based on the variation of double-wing differential and steering gear center of gravity as claimed in claim 1, it is characterized in that, the leading edge and side edge of described wing membrane are wrapped into tubular rear respectively. It is fixed with adhesive; the main beam and the tension beam respectively pass through the tubular space formed by the leading edge and the side edge of the wing membrane, and can rotate freely around the axis of the tubular space; the flexible beams have two, which are bonded together. On the same side of the wing membrane, there are included angles of 20° and 50° with the main beam respectively; the wing root end of the main beam is connected with the wing bar of the transmission system, and the leading edge end of the tension beam is connected with the ball of the control system. The hinge device is connected, and the trailing edge end of the tension beam is inserted into the tension beam restraint hole of the pitch rudder frame of the control system. 3. a kind of bionic flapping-wing micro-vehicle that realizes high control torque generation based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described transmission base comprises the mounting hole position and the power of the distribution gear reduction group The installation cavity of the device is used to fix the distributed gear reduction group and the power device respectively; the support base includes the installation hole of the transmission amplifying device, the constraint chute, the installation hole of the control actuator and the ball joint installation slot, which are used for fixing The fixed transmission amplifying device of the transmission system, the control actuator and the ball joint of the control system; the distributed gear reduction group includes a main shaft gear, a single-layer gear and a double-layer gear, and the main shaft gear is installed on the output shaft of the power device, so The single-layer gear and the double-layer gear are respectively installed in the predetermined holes of the transmission base, the large-tooth gear in the double-layer gear meshes with the main shaft gear, and the small-tooth gear in the double-layer gear meshes with the single-layer gear; One end of the rod is connected to the eccentric hole of the single-layer gear, and the other end is coaxially connected to one end of the left rocker arm and the right rocker arm of the transmission amplifier device through rivets, and slides smoothly in the constraint chute of the support base; The transmission amplifying device includes 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. It can be rotated around the middle installation hole position; the left end of the left rocker arm and the right end of the left connecting rod are connected by rivets, the left end of the left connecting rod and the hole in the middle of the left wing rod are connected by rivets, and the right end of the left wing rod is connected with The support base is riveted corresponding to the installation hole, and the left wing rod is driven by the left connecting rod to reciprocate around the installation hole; the right end of the right rocker arm and the left end of the right connecting rod are connected by rivets, and the The right end and the hole in the middle of the right wing rod are connected by rivets, the left end of the right wing rod is riveted with the corresponding mounting hole of the support base, and the right wing rod is driven by the left connecting rod to reciprocate around the mounting hole. 4. a kind of bionic flapping-wing micro-aircraft that realizes high control torque generation based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described control system flight control unit is a highly integrated miniature flight control board, It integrates at least STM32F411CE main control chip, MPU9050 nine-axis sensor, RFM22B data transmission chip and MS5611 barometer, which are used for central control calculation, acquisition of aircraft attitude, attitude processing, control command calculation and air-ground remote data transmission. 5. a kind of bionic flapping-wing micro-aircraft that realizes high control moment generation based on double-wing differential and steering gear center of gravity change as described in claim 1 or 4, it is characterized in that, described flight control unit is fixed on the support base by flexible foam glue superior. 6. a kind of bionic flapping-wing micro-vehicle that realizes the generation of high control torque based on bi-wing differential and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described power system power unit is hollow cup motor, and battery is high performance. lithium battery. 7. a kind of bionic flapping-wing micro-aircraft that realizes high control moment generation based on double-wing differential motion and steering gear center of gravity change as claimed in claim 1, it is characterized in that, described wing membrane is light, airtight flexible membrane, its Materials include, but are not limited to, polyimide, nonwoven, and nylon. 8. A generation method of the pitch control torque of the bionic flapping-wing micro-aircraft that realizes high control torque generation based on bi-wing differential and steering gear center of gravity changes as described in any one of claims 1-7 is: aircraft needs to produce pitch control When the torque is applied, the flight control unit issues commands, and the pitch servo drives the pitch rudder frame to rotate; on the one hand, the pitch rudder frame drives the tension beams of the left and right flapping wings to rotate back and forth synchronously around the spherical hinge, so that the left and right sides of the aircraft rotate synchronously. The attack angle of the flapping wing increases or decreases at the same time, and the attack angle of the downbeat decreases or increases at the same time, so that the resistance increases or decreases when the left and right flapping wings are up-beating, and the resistance decreases or increases when the down-beating is performed. A non-zero periodic average resistance is generated. Since the resistance and the center of gravity are not in the same horizontal plane, the pitch control moment is generated; on the other hand, due to the rotation of the pitch servo, the center of gravity of the pitch servo moves back and forth relative to the center of gravity of the aircraft, which further generates pitch control. moment. 9. A generation method of the roll control torque of the bionic flapping-wing micro-aircraft that realizes the high control torque generation based on bi-wing differential and steering gear center of gravity changes as described in any one of claims 1-7 is: the aircraft needs to produce rolling. When the control torque is turned, the flight control unit sends an instruction, and the roll servo drives the roll servo frame to rotate; on the one hand, the roll servo frame drives the pitch servo and the pitch servo frame to rotate, and then drives the left and right flaps. The tension beam of the wing rotates synchronously left and right around the spherical hinge, so that the attack angles of the left flapping wing up and down of the aircraft increase or decrease at the same time, and the up and down flapping angles of the right flapping wing decrease or increase at the same time. The lift increases or decreases during the downbeat, and the lift decreases or increases when the right flapping wing goes up and down, so that the average lift of the left and right flapping wings is unbalanced. On the other hand, due to the rotation of the roll steering gear, the center of gravity of the roll steering gear and the pitch steering gear moves left and right relative to the center of gravity of the aircraft, thereby generating a rolling torque.

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