CN114148547B - Dandelion-imitated Mars aircraft and device and control method thereof - Google Patents
Dandelion-imitated Mars aircraft and device and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/105—Space science
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/105—Space science
- B64G1/1064—Space science specifically adapted for interplanetary, solar or interstellar exploration
Abstract
The invention discloses a dandelion-imitating Mars aircraft applied to Mars, a device and a control method thereof, and belongs to the field of aircrafts. The aircraft is similar to dandelion in appearance and comprises an equipment cabin, a load cabin and a plurality of flexible crown hairs; a plurality of crown hairs are uniformly fixed on the outer wall of the equipment cabin in the circumferential direction, and all crown hairs form a crown hair group together; each crown hair comprises a fixed end used for being connected with the equipment cabin and a free end capable of being bent upwards, and the movement direction of the aircraft is regulated by controlling the bending degree of each crown hair; in the initial state, all crown hairs are positioned on the same horizontal plane; the bottom of the equipment compartment is loaded with a load compartment. The crown hair adopts a novel double-crystal driving structure, and the crown hair is bent to different degrees through the thermal expansion difference of the voltage control material. The aircraft provided by the invention has the characteristics of good lift force characteristic, long emptying time, controllable posture and convenience in carrying, and can be applied to future Mars detection engineering in China.
Description
Technical Field
The invention belongs to the field of aircrafts, and particularly relates to an dandelion-imitating Mars aircraft applied to Mars, a device and a control method thereof.
Background
Among the planets currently detected, mars are considered as the most suitable planet for human immigration. Mars are the planets closest to the earth, except for the gold, and Mars are most similar to the earth's environment. Scientists have found that there is a great deal of ice on the Mars, which had been a great deal of liquid water. In recent years, spark detection and immigration programs are proposed in various countries. In the year 2020, 7 and 23, the detector of "Tian Su Yi" is successfully sent into a preset orbit, so that the travel of Mars detection is started, and the first step of autonomous planetary detection in China is provided. The first antenna detector consists of a surrounding device, a landing device and a patrol device. At present, the Mars inspection device in various countries mainly adopts unmanned vehicles, but unmanned locomotives are limited by the ground surface environment of the Mars, the moving range and the inspection distance are extremely limited, and the Mars aircraft can make up for the defects of the Mars.
The concept of Mars aircraft has been proposed since the 70 s of the 20 th century, but the overall development is slow and has not been generalized to the actual Mars detection task. Currently, mars aircraft can be summarized into several general categories, such as floating balloons, fixed-wing, rotor-type aircraft, and the like. Mars are close to the physical environment of the earth, but still have large differences, the surface atmosphere on the Mars is only 1.6% of the atmospheric density of the earth, the viscosity is similar to the earth and is 70% of the earth, the Reynolds number of the Mars is approximately equal to 1% of the Reynolds number of the earth, and the Reynolds number effect on the Mars is remarkable. The traditional earth fixed wing or rotor wing type aircraft is directly used on the Mars, so that the lift characteristic is poor, the lift-drag ratio of the wing profile is greatly reduced, the performance of the aircraft is also poor, the application of the common earth aircraft on the Mars is very urgent, and the aircraft suitable for the Mars low-Reynolds-number environment is designed.
The dandelion seeds have long-time and long-distance air floating capability due to the special structure and pneumatic characteristics, and do not consume extra energy. The dandelion seeds need to rely on a structure called crown hair, each dandelion seed consists of 60-100 white inverted umbrella-shaped crown hairs, which look much like a parachute. Unlike a parachute, however, the crown hair actually fills the void, leaving about 90% of the space unfilled, so that air can pass through the small crown hair. Under the condition of keeping similar quality, the lifting force generated by dandelion under the action of perturbation is about 4 times of that of parachute. Scientists find that seeds of dandelion can navigate tens of kilometers by natural wind power.
The dandelion is applied to the aerospace field in such a hypersonic flight mode, and a new space is opened up for the pneumatic design of the aircraft.
Disclosure of Invention
The invention aims to solve the defects in the prior art, takes Mars detection and immigration plans in China as guidance, takes dandelion in nature as a bionic object, and combines a unique flight mode and a flight mechanism under a low Reynolds number, thereby providing a dandelion-simulated Mars aircraft, a device and a control method thereof. Compared with the traditional fixed wing and rotor wing type Mars aircraft, the aircraft provided by the invention has the advantages that the lift force characteristic is good, the air making time is long, and the aircraft can have the high lift force characteristic under the environment with low Reynolds number of Mars by virtue of a 'separation vortex ring' flight mode.
The specific technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides an dandelion-imitated Mars aircraft, which comprises an equipment cabin, a load cabin and a plurality of flexible crown hairs; a plurality of crown hairs are uniformly fixed on the outer wall of the equipment cabin in the circumferential direction, and all the crown hairs form a crown hair group together; each crown hair comprises a fixed end used for being connected with the equipment cabin and a free end capable of being bent upwards, and the movement direction of the aircraft is regulated by controlling the bending degree of each crown hair; in the initial state, all crown hairs are positioned on the same horizontal plane; the bottom of the equipment cabin is provided with a load cabin.
Preferably, the equipment compartment comprises a top cover and an open compartment body; the cross section of the open cabin body is circular and comprises a cylindrical upper part and a spherical lower part which are connected with each other; the top cover and the cabin body are detachably connected, and can jointly form a closed cavity for accommodating the control module, the navigation module and the power supply.
Preferably, the crown hair group is arranged on the outer edge of the top of the equipment cabin.
Preferably, the porosity of the crown hairs in the crown hair group is 0.9-0.95, the total number is 80-150, the cross section diameter is 0.4-0.8 mm, and the cross section diameter of the crown hairs is about 1/200-1/300 of the crown hair length.
Preferably, the crown hair is of a columnar structure, the free end of the crown hair is made of sponge graphene material, and the rest part is used as a driving main part; along the horizontal axis direction, the driving main part is an upper semi-cylinder and a lower semi-cylinder, wherein the upper semi-cylinder is made of a polydimethylsiloxane material, and the lower semi-cylinder is made of a sponge graphene material; the lower semi-cylinder is connected with a control module, and the control module can adjust the bending degree of the crown hair by controlling the voltages at the two ends of the crown hair.
Furthermore, an insulating layer which can cover the vertical axial cross section of the driving main part is also arranged in the driving main part, and the insulating layer is preferably made of graphene.
Further, all crown hairs in the crown hair group are equally divided into four quadrant parts, the crown hairs of different quadrant parts are respectively connected with four different control modules, and the bending states of the crown hairs of different quadrants are adjusted through the different control modules.
Preferably, the root near the crown hair fixed end can be bent downwards by 90 degrees so as to realize folding and gathering of the lift force control assembly.
In a second aspect, the invention provides a dandelion-simulated Mars flying device, comprising a plurality of dandelion-simulated Mars flying vehicles according to any one of the first aspect; the crown wool group of the dandelion-like Mars aircraft is folded and folded on the outer sides of the equipment cabin and the load cabin and is loaded in an airship or a lander.
In a third aspect, the present invention provides a control method of the dandelion-imitated Mars aircraft according to any one of the first aspect, specifically comprising the following steps:
in the flying process, all the crown hairs are unfolded, and a low-pressure area is generated above the aircraft by means of the separation vortex ring formed under wind disturbance through interaction among the crown hairs, so that the aircraft has a lift force effect to realize the air-stagnation flying; meanwhile, the bending degree of each crown hair is controlled, so that the aircraft generates moment in the corresponding direction, and the control and the attitude control of the aircraft in all directions are realized.
Compared with the prior art, the invention has the following beneficial effects:
1) The dandelion-imitating Mars aircraft provided by the invention has better aerodynamic characteristics and longer air time in a Mars low-Reynolds number environment than in the earth environment. The main characteristics of the Mars atmosphere environment are low Reynolds number and high Mach number, the Reynolds number is about 1% of the Reynolds number of the earth, the viscosity effect is remarkable, and the lift-drag ratio of the common fixed wing and the rotor craft is reduced by times along with the reduction of the Reynolds number. Therefore, fixed wing type aircraft have extremely poor applicability on sparks. When the rotor craft is used on Mars, the rotation speed is much larger than that on the earth, and the energy efficiency ratio is also greatly reduced. The lifting coefficient of the dandelion-like Mars aircraft provided by the invention is exponentially increased along with the reduction of the Reynolds number, and the lifting coefficient of the dandelion-like aircraft with the same size is increased by more than 10 times compared with that of the dandelion-like aircraft on the earth when the dandelion-like aircraft is used on the Mars, so that the overall efficiency of the aircraft is greatly improved.
2) The dandelion-imitating Mars aircraft provided by the invention can generate a stable 'separation vortex ring' flight mechanism which is the same as that of the dandelion in nature by controlling the porosity, density and shape of the crown hair to be consistent with those of the dandelion in nature. Under the condition of no external energy supply, the device can also fly for a long time in a flying way, has the characteristics of good floating property and low energy consumption, and can be applied to tasks such as monitoring, reconnaissance, material throwing and the like on a spark.
3) The control mode of the dandelion-imitated Mars aircraft provided by the invention has the characteristics of simple operation strategy, low energy consumption and light weight. Crown hair is both the lifting surface and the control surface of the aircraft. The inner structure of the crown hair is made of a double-crystal (PDMS/SG) material, and the crown hair can be bent only by carrying a miniature battery in the equipment cabin to provide smaller current, so that the attitude of the aircraft is actively controlled. By adopting the control mode, an additional control mechanism and a control surface are not required to be added, the weight of the aircraft is greatly reduced, and the double-crystal-form (PDMS/SG) material is not only an internal load-carrying structure of the crown hair, but also a control surface of the crown hair, thus being a simple and efficient control mode.
Drawings
FIG. 1 is a schematic diagram of a simulated dandelion Mars aircraft;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a "split vortex ring" flight mode wherein (a) is a real dandelion wake display test; (b) Is a numerical simulation flow chart of the dandelion-simulated Mars aircraft;
FIG. 4 is a graph showing the relationship between the lift coefficient of the dandelion-simulated Mars aircraft and the Reynolds number;
FIG. 5 is a schematic view of the structure of the crown hair, wherein (a) is a front view, (b) is a left view, and (c) is a right view;
FIG. 6 is a schematic diagram of a flap manipulation mode, wherein (a) is a flap manipulation mode of a helicopter and (b) is a flap manipulation mode of a dandelion-like Mars aircraft;
fig. 7 is a schematic diagram of a gesture control manner of the dandelion-simulated Mars aircraft, wherein (a) is a division of four quadrants of crown hair, (b) is a schematic diagram of a crown hair bending stress condition of a first quadrant, (c) is a schematic diagram of a crown hair bending stress condition of a second quadrant, (d) is a schematic diagram of a crown hair bending stress condition of a third quadrant, and (e) is a schematic diagram of a crown hair bending stress condition of a fourth quadrant;
FIG. 8 is a schematic view of a folding state of the dandelion-simulated Mars aircraft;
FIG. 9 is a schematic view of a structure of a simulated dandelion Mars aircraft loaded in a carrier (i.e. simulated dandelion Mars aircraft);
in the figure: equipment cabin 1, crown hair 2, load cabin 3.
Detailed Description
The invention is further illustrated and described below with reference to the drawings and detailed description. The technical features of the embodiments of the invention can be combined correspondingly on the premise of no mutual conflict.
The invention provides a dandelion-imitated Mars aircraft, which is similar to dandelion in appearance and mainly comprises an equipment cabin 1, a load cabin 3 and a plurality of flexible crown hairs 2. The aircraft comprises more than 100 crown hairs, wherein the crown hairs and the real dandelion have the same porosity and density values, so that the aircraft can fly with the real dandelion under the high lift force under the micro disturbance by means of a brand new flight mode, namely a pair of stable 'separation vortex rings' formed above the crown hairs. Through researches, the lift coefficient generated by the aircraft under perturbation is exponentially increased along with the reduction of the Reynolds number, the characteristic is matched with the low Reynolds number environment of the Mars, and the lift coefficient of the aircraft is improved by more than ten times compared with the lift coefficient of the aircraft on the earth when the aircraft is applied to the Mars. The crown hair of the aircraft is not only a lifting surface of the aircraft, but also a control surface, and the control can be realized by controlling the bending of the crown hair.
The components and the manner of connection of the aircraft will now be described in detail.
As shown in fig. 1, a plurality of crown hairs 2 are uniformly fixed on the outer wall of the equipment compartment 1 along the circumferential direction, and all crown hairs 2 together form a crown hair group. Along the axial direction, every crown hair 2 divide into stiff end, main part and the free end that connects gradually from inside to outside, and the stiff end is used for being connected with equipment compartment 1, and main part and free end can upwards realize the bending of different degree, and then can be through the crooked degree of control each crown hair 2 in order to adjust the direction of motion of aircraft. By "inside-out" is meant here a direction gradually away from the coronary axis of the equipment compartment 1. As shown in fig. 2, when the aircraft is in the initial state of flight, all crown hairs 2 are in the same horizontal plane. The crown hair 2 is a lifting surface and a control surface of the aircraft, can generate upward lifting force under the micro-disturbance, and can realize the control of the forward and backward movement direction and the left and right movement direction of the aircraft.
The bottom of the equipment cabin 1 is provided with a load cabin 3 through a connecting rod, a control module and a navigation module for controlling the crown hair 2 and a power supply for supplying power to electric equipment are arranged in the equipment cabin 1, and the load cabin 3 is used for loading load equipment such as materials, image transmission equipment, photoelectric equipment and the like.
In order to make the crown hair group better connected with the equipment compartment 1 in practical application, the equipment compartment can be provided with the following structure: the equipment cabin 1 comprises a top cover and an open cabin body; the cross section of the open cabin body is circular and comprises a cylinder upper part and a spherical lower part which are connected with each other, so that each crown hair can be connected and fixed with the cylinder upper part; the top cover and the cabin body are detachably connected, and can jointly form a closed cavity for accommodating the control module, the navigation module and the power supply.
In order to ensure that the crown hair group of the aircraft can generate high-lift aerodynamic characteristics under the same low Reynolds number as that of dandelions in nature as far as possible, the porosity of crown hair 2 in the crown hair group is set to be 0.9-0.95 (preferably 0.92), the total number of crown hair 2 is set to be 80-150, the cross-section diameter of the crown hair 2 is 0.4-0.8 mm, and the cross-section diameter of the crown hair 2 is 1/300 of the length of the crown hair 2. The definition of "porosity" herein is the ratio of the sum of the volumes of the void portions inside the porous medium to the outer surface volume of the porous medium, and the porosity of dandelion has a specific physical meaning of the ratio of the volume of the voids between crown hairs to the volume of the cylindrical disk where the crown hairs are located. Under the structure, through high-precision numerical simulation of the aircraft and wake flow display test of dandelions in nature, the interaction between the crown hairs is found to form a pair of stable vortex rings, namely 'separation vortex rings', above the crown hairs, as shown in figure 3. The diagram (a) is a wake flow display test of the dandelion in nature, and it can be obviously seen that under the action of perturbation, the interaction between the coronary hairs is found to form a pair of stable vortex rings, namely 'separation vortex rings', above the coronary hairs, the separation vortex rings generate a stronger low-pressure area above the dandelion, so that the dandelion generates lifting force, and the mechanism of long-time air-stagnation flight of the dandelion is the same. The diagram (b) is a numerical simulation flow field result analysis diagram of the dandelion-like aircraft, and the flow diagram of the middle section can obviously show that a pair of stable separation vortex rings also appear above the crown wool of the dandelion-like aircraft, so that the separation vortex ring flight mode of the real dandelion in nature is successfully simulated.
In addition, the lift coefficient generated by the aircraft under the perturbation is exponentially increased along with the reduction of the Reynolds number, as shown in fig. 4, the relationship of the lift coefficient of dandelion along with the variation of the Reynolds number is shown in the abscissa, and the ordinate is the lift coefficient. Wherein the black solid line is the relationship followed by dandelion in nature, the solid square mark points are the relationship between the lift coefficient and the Reynolds number under the condition that the change rule of the lift coefficient along with the Reynolds number is obtained by calculating the numerical value of the simulated dandelion aircraft, and the dotted line is the fitting relationship, so that the lift coefficient and the Reynolds number conform to the exponential relationship: c (C) L ＝135.11×Re -0.527 . Since the Reynolds number of Mars is only 1% of the earth, the lift coefficient of an aircraft of the same size on Mars will be increased by a factor of 10 over that on earth. Therefore, the high-lift characteristic of the dandelion-like aircraft under the low Reynolds number is matched with the low Reynolds number environment of the Mars, and the dandelion-like aircraft has greater advantages when applied to the Mars.
In order to realize the control of the bending degree of each crown hair, a novel double-crystal-form (PDMS/SG) driving structure can be adopted in the crown hair, and the method is specifically as follows: as shown in fig. 5, the crown hair 2 has a columnar structure, the free end of the crown hair is made of sponge graphene material, and the rest part is used as a driving main part; along the horizontal axis direction, the driving main part is an upper semi-cylinder and a lower semi-cylinder, the upper semi-cylinder (main stress structure) is made of Polydimethylsiloxane (PDMS) materials with higher thermal expansion coefficients, and the lower semi-cylinder (driving deformation structure) is made of Sponge Graphene (SG) materials; the SG material is connected with a control circuit (arranged in the control module), and the voltage at two ends of the SG is controlled, so that the heating degree of the PDMS material is controlled, and the crown wool fiber is bent to different degrees due to the huge thermal expansion difference between the SG layer and the PDMS layer, so that the control and the control are realized. In addition, in order to ensure that the crown hairs are heated uniformly, an insulating layer which can cover the vertical axial cross section of the crown hairs can be further arranged in the driving main part, and the insulating layer is preferably made of graphene materials.
In practical application, each crown hair can be connected with different control circuits so as to realize the control of the bending degree of different crown hairs. However, considering the manufacturing cost and difficulty, all crown hairs 2 in the crown hair group can be equally divided into four quadrant parts, as shown in fig. 7, the crown hairs 2 in different quadrant parts are respectively connected with four different control modules, and the bending states of the crown hair wings in different quadrants can be realized through the different control modules. Wherein, all crown hairs in the same quadrant are upwardly bent to a uniform degree so as to facilitate the operation.
In practical application, the root near the fixed end of the crown hair 2 can be bent downwards by 90 degrees to realize folding of the lift force control assembly, and the crown hair after folding is bunched at the periphery of the equipment cabin and the load cabin, as shown in fig. 8. The folded size of the aircraft is greatly reduced, the radial size can be reduced by about 80 percent, the aircraft is conveniently loaded in an airship and a lander, and the dandelion-like Mars flying device is formed together, so that the dandelion-like Mars flying task can be realized cooperatively, and the aircraft is shown in figure 9.
Inspired by the control mode of the flapping motion of the helicopter, the dandelion-like aircraft provided by the invention realizes control and attitude control in all directions by adopting the 'flapping' motion of the coronary hair group, as shown in fig. 6. However, unlike helicopters, the crown hair of the aircraft of the invention does not rotate, and the flapping motion of the crown hair is realized by driving the crown hair to bend by a driver, and the specific operation mode is as follows:
in the flight process, all the crown hairs 2 are unfolded, and a low-pressure area is generated above the aircraft through the separation vortex rings formed among the crown hairs 2, so that the aircraft has a lift force effect, and the air-stagnation flight is realized. Meanwhile, the bending degree of each crown hair 2 can be controlled, so that the stability of a separation vortex ring is destroyed, and the aircraft can generate moment in the corresponding direction, thereby realizing the control and attitude control of the aircraft in all directions. In practical application, all crown hairs of the aircraft can be divided into four quadrants, the crown hairs of each quadrant form a group, the upward bending angles of the crown hairs are consistent, and the dandelion generates moment in each direction by controlling the upward bending of the crown hair group of each quadrant, so that simple control and posture adjustment of the dandelion-like aircraft are realized.
The dandelion-like Mars aircraft provided by the invention has the characteristics of good lift force characteristic, long air time, controllable posture and convenience in carrying, and can be applied to future Mars detection engineering in China.
The above embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, all the technical schemes obtained by adopting the equivalent substitution or equivalent transformation are within the protection scope of the invention.
Claims (8)
1. The dandelion-imitated Mars aircraft is characterized by comprising an equipment cabin (1), a load cabin (3) and a plurality of flexible crown hairs (2); a plurality of crown hairs (2) are uniformly fixed on the outer wall of the equipment cabin (1) in the circumferential direction, and all the crown hairs (2) form a crown hair group together; each crown hair (2) comprises a fixed end used for being connected with the equipment cabin (1) and a free end capable of being bent upwards, and the movement direction of the aircraft is regulated by controlling the bending degree of each crown hair (2); in the initial state, all crown hairs (2) are positioned on the same horizontal plane; the bottom of the equipment cabin (1) is provided with a load cabin (3);
the crown hair (2) is of a columnar structure, the free end of the crown hair is made of sponge graphene material, and the rest part is used as a driving main part; along the horizontal axis direction, the driving main part is an upper semi-cylinder and a lower semi-cylinder, wherein the upper semi-cylinder is made of a polydimethylsiloxane material, and the lower semi-cylinder is made of a sponge graphene material; the lower semi-cylinder is connected with a control module, and the control module can adjust the bending degree of the crown hair (2) by controlling the voltage at two ends of the crown hair (2); all crown hairs (2) in the crown hair group are equally divided into four quadrant parts, the crown hairs (2) of different quadrant parts are respectively connected with four different control modules, and the bending states of the crown hairs of different quadrants are adjusted through the different control modules.
2. A dandelion-imitated Mars aircraft according to claim 1, characterized in that the equipment compartment (1) comprises a roof and an open cabin body; the cross section of the open cabin body is circular and comprises a cylindrical upper part and a spherical lower part which are connected with each other; the top cover and the cabin body are detachably connected, and can jointly form a closed cavity for accommodating the control module, the navigation module and the power supply.
3. The dandelion-imitated Mars aircraft according to claim 1, wherein the crown wool group is arranged at the top outer edge of the equipment compartment (1).
4. The dandelion-imitated Mars aircraft according to claim 1, wherein the porosity of the crown hairs (2) in the crown hair group is 0.9-0.95, the total number is 80-150, the cross-sectional diameter is 0.4-0.8 mm, and the cross-sectional diameter of the crown hairs (2) is 1/200-1/300 of the length of the crown hairs (2).
5. The dandelion-imitated Mars aircraft according to claim 1, wherein the driving main part is further provided with an insulating layer which can cover the vertical axial cross section of the driving main part, and the insulating layer is preferably made of graphene.
6. The dandelion-imitated Mars aircraft according to claim 1, wherein the root near the fixed end of the crown hair (2) can be bent downwards by 90 degrees to realize folding and gathering of the lift force control assembly.
7. A dandelion-imitated Mars flying device, which is characterized by comprising a plurality of dandelion-imitated Mars flying devices according to any one of claims 1-6; the crown wool group of the dandelion-like Mars aircraft is folded and folded on the outer sides of the equipment cabin (1) and the load cabin (3) and is loaded in an airship or a lander.
8. A control method of the dandelion-imitated Mars aircraft according to any one of claims 1-6, which is characterized by comprising the following specific steps:
in the flying process, all the crown hairs (2) are unfolded, and the low-pressure area is generated above the aircraft by means of the separation vortex ring formed under the action of wind disturbance through the interaction among the crown hairs (2), so that the aircraft has the lift force effect to realize the air-stagnation flying; meanwhile, the bending degree of each crown hair (2) is controlled, so that the aircraft generates moment in the corresponding direction, and the control and the attitude control of the aircraft in all directions are realized.
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