CN117944909A - Passive flapping wing for flapping wing aircraft - Google Patents
Passive flapping wing for flapping wing aircraft Download PDFInfo
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- CN117944909A CN117944909A CN202311585794.8A CN202311585794A CN117944909A CN 117944909 A CN117944909 A CN 117944909A CN 202311585794 A CN202311585794 A CN 202311585794A CN 117944909 A CN117944909 A CN 117944909A
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- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 47
- HZEWFHLRYVTOIW-UHFFFAOYSA-N [Ti].[Ni] Chemical compound [Ti].[Ni] HZEWFHLRYVTOIW-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910001000 nickel titanium Inorganic materials 0.000 claims abstract description 23
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Abstract
The invention discloses a passive flapping wing applied to a flapping wing aircraft, which comprises an inner section wing and an outer section wing, a connecting rotating shaft for connecting the inner section wing and the outer section wing together and a main control chip for controlling the movement of the connecting rotating shaft, wherein a memory alloy is arranged on the connecting rotating shaft, the memory alloy arranged on the connecting rotating shaft is connected with the main control chip through a regulating circuit, the regulating circuit sends square wave signals through the main control chip, and then the voltage at two sides of a nickel-titanium memory alloy sheet is regulated, the current density of the nickel-titanium memory alloy sheet is regulated, and then the elastic modulus of the nickel-titanium memory alloy sheet is regulated, and finally the flapping amplitude and the flapping frequency of the wing are coupled to adapt to a complex flight environment.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a passive ornithopter wing applied to an ornithopter.
Background
Humans have long been ideal to fly in the air like birds, and mechanical pigeons manufactured by Alhitis in ancient Greek, fly away to Australia, koming lights in China, and kites all have a relationship. The development of modern aircraft benefits from the tremendous leaps of science and technology brought about by the 19 th century industrial revolution. The flying dream of human beings starts from an ornithopter, which is a bionic aircraft with wing structures and flying capabilities of animals such as birds or bats. The ornithopter has wide application prospects in the fields of military, civil and scientific research, such as reconnaissance, monitoring, search and rescue and the like. Wing design of ornithopters is one of the key factors affecting its performance, and its design has been studied for many years.
The flapping wings in the prior art are all in the form of double-section wings, namely, are divided into inner section wings and outer section wings. The flapping of the inner Duan Yi basically takes the form of active control, and the flapping wing structure can be divided into an active type and a passive type based on the driving structure of the outer section wing. Compared with a passive flapping wing, the active flapping wing has better control precision. However, the complex mechanical structure of the active flapping wing not only brings inconvenience in installation and maintenance, but also increases the weight of the aircraft and reduces the carrying capacity of the aircraft, and the defects greatly reduce the economy of the flapping wing aircraft. Although the control precision of the passive flapping wing is slightly inferior to that of the active flapping wing, the passive flapping wing can provide aerodynamic performance similar to that of the active flapping wing based on the existing research, and has the advantages of light weight, high reliability, convenient installation and the like. However, passive flapping wings still have problems, such as the inability to freely adjust the flapping frequency as active flapping wings.
Birds can adjust flutter frequency and flutter amplitude according to different flight environment in-process that flies in the air, for example when steadily flying, birds can flatten the wing, and the flight mode is similar to fixed wing aircraft, when facing the gust, birds can begin the flapping wing, improves the power when flying to resist the influence of wind to the flight, can adjust flutter frequency according to the condition adaptation of difference in addition, in order to realize pneumatic performance's maximize. The flapping frequency of the flapping wing aircraft is also required to be regulated based on different flight environments in the flight process, but for the aircraft adopting the current passive flapping, the change of the flapping frequency also causes the change of the flapping amplitude, which not only causes the reduction of aerodynamic performance, but also possibly damages the wing.
For example, japanese patent JP2013109671 discloses a body-type flight vehicle and a flight support device, which discloses an electric auxiliary body-mounted aircraft and a flight support device that facilitate the flight thereof. The device is body mountable in an aircraft, and the provision of a body mountable back plate includes a flapping wing passing over a shoulder shaft, the wing being provided with a built-in wind pressure jet so that the flapping wing can be tilted with a handle to enable up and down movement. The structure belongs to a typical active flapping wing structure, and the active flapping wing structure is provided with a complex mechanical structure, so that the structure not only brings inconvenience in installation and maintenance to an aircraft, but also increases the weight of the aircraft and reduces the carrying capacity of the aircraft.
A muscle-driven ornithopter, as disclosed for example in european patent EP2008010651, comprises a fuselage, a pair of ornithopters having a modifiable profile or ailerons located in an outer wing section at a distance from the fuselage, which modifiable profile or aileron allows the lift to be modified in a predetermined current, and an elevator unit, wherein the deflection of the elevator can be modified. The pair of flapping wings and the fuselage are made of an elastic material that allows the pair of flapping wings to flutter. The flapping wings bend downwards in the rest position. The calculation of the elasticity forces the flapping wing into a neutral position during flight due to the weight of the pilot. The fuselage is designed so that the pilot is in a vertical position relative to the longitudinal axis of the fuselage, enabling the pilot to stress and relieve stresses in stages on the aircraft by stretching and bending the legs. The ornithopter further comprises a mechanism that allows the modifiable outer wing section and modifiable elevator deflection to be driven in synchronism with the movement of the ornithopter. Although the technical scheme utilizes elasticity to prepare the flapping wings and the fuselage, the purpose of utilizing the elastic material is to enable a pilot to apply stress to the aircraft and relieve the stress in stages through extending and bending legs, and the technical scheme also belongs to a typical active flapping wing structure, and after the pilot is born, the weight of the aircraft is increased, so that the economy of the flapping wing aircraft is reduced as a whole.
For example, a miniature flapping wing aircraft for bouncing and taking off disclosed in chinese patent CN102167160a comprises a fuselage, a bionic flapping wing, a driving mechanism, a bouncing mechanism, a control system and a tail wing, wherein the fuselage is used for fixing and installing other components; the bionic flapping wings are of a convex design and are bilaterally symmetrical, the front ends of the bionic flapping wings are connected with the driving mechanism, and the rear ends of the bionic flapping wings are fixed at the tail end of the machine body; the driving mechanism is arranged at the front part of the machine body, and converts the rotation of the miniature direct current motor into flapping of the bionic flapping wing through gear transmission; the bouncing device is arranged at the lower part of the machine body, and the energy storage-triggering action of the bouncing device drives the aircraft to realize autonomous take-off and stable landing; the control system is arranged on the upper abdomen of the machine body and is connected with the driving mechanism and the bouncing device through leads; the tail wing is arranged at the tail part of the machine body, so that the balance of the machine body in flying is maintained. The ornithopter can realize autonomous take-off and landing, can circularly work and is suitable for relatively complex working environments. The structure also belongs to a typical active flapping wing structure, and due to the fact that a complex mechanical structure exists in the technical scheme, the structure not only brings inconvenience in installation and maintenance for an aircraft, but also increases the weight of the aircraft and reduces the carrying capacity of the aircraft.
Disclosure of Invention
The invention aims to: the invention aims to solve the defects of the prior art and provide a passive flapping wing applied to a flapping wing aircraft, wherein the passive flapping wing memory can provide a flight mode similar to birds for the flapping wing aircraft, the passive flapping wing with reduced flight energy loss can ensure that the flapping wing aircraft can realize an optimal flapping state under different flapping frequencies, and further can keep better aerodynamic performance under complex and changeable flight environments.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a passive ornithopter wing for an ornithopter, comprising: the inner section wing and the outer section wing are used for connecting the connecting rotating shaft of the inner section wing and the outer section wing together and a main control chip for controlling the movement of the connecting rotating shaft; the memory alloy is arranged on the connecting rotating shaft and is connected with the main control chip through a regulating circuit; the regulating circuit sends square wave signals through the main control chip, so that the voltage at two sides of the nickel-titanium memory alloy sheet is adjusted, the current density of the nickel-titanium memory alloy sheet is adjusted, the elastic modulus of the nickel-titanium memory alloy sheet is further adjusted, and finally the flapping amplitude and the flapping frequency of the wing are coupled to adapt to a complex flight environment.
As a further preferable mode of the invention, the inner Duan Yi reinforcing ribs are arranged in the inner section wing in a penetrating manner, the outer section wing reinforcing ribs are arranged in the outer section wing in a penetrating manner, the inner section wing connecting device is used for connecting and fastening the plurality of inner section wing reinforcing ribs, the outer section wing connecting device is used for connecting and fastening the plurality of outer section wing reinforcing ribs, the inner section wing connecting device and the outer section wing connecting device are connected and fastened through the hinge device, the hinge device is used for connecting the rotating shaft parts of the inner section rigid wing and the outer section rigid wing, and the hinge device is not only the connecting part of the inner section wing and the outer section wing, but also the rotating shaft of the inner section wing and the outer section wing when the aircraft flapping wings relatively rotate.
As a further preferable mode of the invention, the surface of the connecting rotating shaft is provided with a groove for placing memory alloy, and the nickel-titanium memory alloy sheet is used for controlling the restoring force received by the outer section wing during deflection.
As a further preferred aspect of the invention, the memory alloy is mounted at the junction of the inner and outer wings. The memory alloy can elastically deform when being subjected to pressure, and can quickly recover after the pressure is removed, so that the flutter frequency can be freely regulated under the pressure regulation of the main control chip.
As a further preferred aspect of the invention, the memory alloy is fixed to the inner and outer wings by means of a clevis, respectively.
As a further preferred mode of the invention, one end of a regulating circuit positioned in the inner section wing and the outer section wing is connected with the memory alloy, the other end of the regulating circuit is connected with a main control chip on the aircraft, the regulating circuit sends square wave signals through the main control chip, and then the voltage at two sides of the nickel-titanium memory alloy sheet is regulated, the current density of the nickel-titanium memory alloy sheet is regulated, and then the elastic modulus of the nickel-titanium memory alloy sheet is regulated, and finally the flapping amplitude of the wing is coupled with the flapping frequency, so that the wing is suitable for a complex flight environment.
As a further preferable mode of the invention, the main control chip adjusts the voltages at two sides of the memory alloy so as to adjust the elastic modulus of the memory alloy.
As a further preferred aspect of the present invention, the elastic modulus of the memory alloy is obtained according to the stress of the inner and outer wings and the moment of the connecting rotating shaft:
wherein: e is the required elastic modulus, M is the moment, A is the cross-sectional area, and θ is the deflection angle.
As a further preferred aspect of the present invention, the memory alloy is a nickel-titanium memory alloy, and the nickel-titanium memory alloy sheet has super elasticity, and is elastically deformed when being subjected to pressure, and can be quickly restored to its original shape when the pressure is removed. The material has the electro-plasticity, and after the material is electrified, the mechanical property index of the material can be changed greatly according to the current density of the material.
As a further preferable mode of the invention, the hinge device is provided with a hinge mechanism, and two ends of the hinge mechanism are respectively fixedly connected with the section wing connecting device and the outer section wing connecting device. This is achieved by the hinges on the hinge assembly when the outer wing sections are rotated relative to the inner sections Duan Yi, which will not be repeated here, since there are already very well established applications in everyday life, such as door hinges.
The beneficial effects are that: according to the passive flapping wing applied to the flapping wing aircraft, through optimizing the structural design of the passive flapping wing, the voltage at two sides of the nickel-titanium memory alloy sheet is adjusted by using the main control chip, so that the elastic modulus of the nickel-titanium memory alloy sheet is adjusted, and finally, the flapping amplitude and the flapping frequency of the wing are coupled. After the flapping frequency of the flapping wing is changed, the flexibility of the flapping wing can be correspondingly changed. The design ensures that the flapping-wing aircraft can realize the optimal flapping state under different flapping frequencies, so that the flapping-wing aircraft can keep better aerodynamic performance under complex and changeable flight environments.
Drawings
FIG. 1 is a logic control diagram of the present invention;
FIG. 2 is a schematic view of the internal structure of a wing;
FIG. 3 is an enlarged partial view of the connection portion of the inner and outer wings
FIG. 4 is a diagram of a dual-joint model;
FIG. 5 is a square wave conditioning signal diagram;
FIG. 6 is a schematic diagram of the change in wing configuration during a continuous flapping wing;
FIG. 7 is a schematic view of a wing in an untapped state;
FIG. 8 is a schematic view of a wing in a flapping state.
Detailed Description
The invention is further elucidated below in conjunction with the drawings.
As shown in the accompanying drawings, the invention provides a passive ornithopter wing for an ornithopter, comprising: the inner Duan Yi, the outer section wing 2, the connecting rotating shaft 3, the memory alloy 4, the regulating circuit 5 and the main control chip 6, the connecting rotating shaft 3 comprises a hinge device 31 and a U-shaped clamp 32.
The inner section wing reinforcing ribs 11 inside the inner section wing 1 are fastened through the inner section wing connecting device 12, the outer section wing reinforcing ribs 21 inside the outer section wing 2 are fastened through the outer section wing reinforcing ribs 22, the inner section wing connecting device 12 and the outer section wing reinforcing ribs 22 are fastened together through the hinge device 31 to realize the connection between the inner Duan Yi and the outer section wing 2, and the memory alloy 4 arranged on the connecting rotating shaft 3 is connected with the main control chip 6 through the regulating circuit 5.
Examples
Step one, after receiving a signal for setting a flight destination position, a main control chip 6 sends a control signal to the ornithopter by using a remote controller so as to change the aerocraft from a fixed wing flight mode to an ornithopter flight mode;
Step two: the main control chip 6 receives the control signal, calculates the optimal flutter frequency and the voltage at the two ends of the nickel-titanium memory alloy sheet 4 based on the result of the airspeed sensor, and specifically comprises the following steps:
The flapping motion in flapping wing flight is represented by a double-articulated-arm model (which is applied to the description of bird flight at the earliest), and a flapping flight mechanism is controlled by three angles: arm wing angle ψ 1, hand wing angle ψ 2 and sweep angle Φ 2, the units of angles ψ 1、ψ2 and Φ 2 are degrees, which are expressed as fourier series as a function of time:
Wherein the method comprises the steps of
Cψ10＝12.2528,Cψ11＝-3.7150,Bψ11＝21.1873,
Cψ12＝-0.6432,Bψ12＝-2.3054
Cψ20＝20.0863,Cψ21＝-18.6807,Bψ21＝-7.3848,
Cψ22＝1.3457,Bψ22＝-6.1507,
Cφ20＝13.5235,Cφ21＝-0.7494,Bφ21＝1.2524,
Cφ22＝4.3138,Cφ22＝-6.3023,
This is by obtaining a well-known optimum form of flapping wing movement;
The force received by the wing during wing flapping can be calculated based on a dynamics equation:
Fext＝Faero,g+Fgrav,g (3)
Where F ext represents the total force experienced by the wing, F aero,g represents the aerodynamic force experienced by the wing, and F grav,g represents the inertial force experienced by the wing. Because of the lack of a perfect theoretical model for calculating aerodynamic force of the flapping wing at present, a classical steady dynamics model is adopted when the aerodynamic force is analyzed. Experiments show that when the wing flutters, the generated aerodynamic force is improved by 10-30% compared with the flying condition of the fixed wing, and the aerodynamic force is far lower than the inertia force (about an order of magnitude smaller) born by the wing, so that the approximate calculation is reasonable;
Aerodynamic forces experienced by a wing during flight:
inertial force received during wing flapping:
Fgrav,g＝∫(ai,b+a×ri,b+2ω×vi,b+ω×(ω×ri,b)) (5)
where a i,b is the local acceleration in the non-inertial body frame, r i,b is the radial vector relative to origin O, vi, b is the local velocity relative to origin O, ω is the angular velocity of the fuselage, α is the acceleration of the fuselage;
the first term in the integral represents inertial forces resulting from local acceleration of the wing points, the second represents angular acceleration or force resulting from rotation, and the third and fourth terms represent coriolis and centrifugal forces experienced by the wing due to body rotation;
The rotary motion of the flapping-wing action of an aircraft is characterized by three euler angles commonly used on fuselages, namely roll, pitch and yaw. Therefore, the torque in the rotation analysis is expressed by a modified form of the above formula:
∫ri,b×Faero,i,b＝∫ri,b×mi(ai,b+α×ri,b+2ω×vi,b+ω×(ω×ri,b)) (6)
the above formula can be further simplified to obtain a moment formula:
Wherein the method comprises the steps of
The analytic solution of the formula can be obtained by bringing in real-time kinematic data, and the stress of the wing and the moment of the rotating shaft can be finally calculated. Based on the moment, the elastic modulus required by the nickel-titanium memory alloy sheet can be calculated by the following formula;
Where E is the desired elastic modulus, M is the moment (calculated from equation 7), A is the cross-sectional area, and θ is the deflection angle (calculated from equation 1).
The corresponding current density is measured through a ground experiment based on the required elastic modulus, and the current can be calculated by using the current density because the resistance of the nickel-titanium memory alloy sheet 4 is fixed, so that the voltages at the left end and the right end of the nickel-titanium memory alloy can be calculated;
Step three: and the main control chip 6 sends square wave signals to the nickel-titanium memory alloy 4 sheets to change the Young modulus of the nickel-titanium memory alloy sheets, and simultaneously sends signals to the flapping wing movement device to start flapping wing flight.
Experimental data
Through corresponding calculation and experiments, the corresponding relation among the flying speed, the flapping frequency, the elastic modulus of the nickel-titanium memory alloy sheet 4, the current density and the voltage at two ends of the nickel-titanium memory alloy sheet 4 is shown in the following graph:
the foregoing embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and to implement the same, not to limit the scope of the present invention. All changes and modifications that come within the meaning and range of equivalency of the invention are to be embraced within their scope.
Claims (10)
1. A passive ornithopter wing for use in an ornithopter, comprising: interior Duan Yi (1) and outer section wing (2), its characterized in that: the device also comprises a connecting rotating shaft (3) for connecting the inner Duan Yi (1) and the outer section wing (2) together and a main control chip (6) for controlling the movement of the connecting rotating shaft (3);
the memory alloy (4) is arranged on the connecting rotating shaft (3), and the memory alloy (4) arranged on the connecting rotating shaft (3) is connected with the main control chip (6) through the regulating circuit (5);
Inner Duan Yi strengthening rib (11) are worn to be equipped with in the inside of interior Duan Yi (1), outer section wing strengthening rib (21) are worn to be equipped with in the inside of outer section wing (2), interior section wing connecting device (12) are connected a plurality of interior section wing strengthening ribs (11) and are fastened, outer section wing connecting device (22) are connected a plurality of outer section wing strengthening ribs (21) and are fastened, interior section wing connecting device (12) and outer section wing connecting device (22) are connected the fastening through hinge device (31) and are realized the connection of interior Duan Yi (1) and outer section wing (2).
2. A passive ornithopter wing for use in an ornithopter according to claim 1, wherein: the surface of the connecting rotating shaft (3) is provided with a groove for placing the memory alloy (4).
3. A passive ornithopter wing for use in an ornithopter according to claim 2, wherein: the memory alloy (4) is arranged at the joint of the inner section wing (1) and the outer section wing (2).
4. A passive ornithopter wing for use in an ornithopter according to claim 3, wherein: the memory alloy (4) is respectively fixed on the inner section wing (1) and the outer section wing (2) through U-shaped clamps (32).
5.A passive ornithopter wing for use in an ornithopter according to claim 1, wherein: one end of a regulating circuit (5) positioned in the inner Duan Yi (1) and the outer section wing (2) is connected with the memory alloy (4), and the other end is connected with a main control chip (6) on the aircraft.
6. A passive ornithopter wing for use in an ornithopter according to claim 1, wherein: the master control chip (6) adjusts the voltage at two sides of the memory alloy (4) so as to adjust the elastic modulus of the memory alloy (4).
7. A passive ornithopter wing for use in an ornithopter according to claim 6, wherein: the elastic modulus of the memory alloy (4) is obtained according to the stress of the inner section wing and the outer section wing and the moment of the connecting rotating shaft (3):
wherein: e is the required elastic modulus, M is the moment, A is the cross-sectional area, and θ is the deflection angle.
8. A passive ornithopter wing for use in an ornithopter according to claim 7, wherein: the memory alloy (4) is nickel-titanium memory alloy.
9. A passive ornithopter wing for use in an ornithopter according to claim 1, wherein: the hinge device (31) is provided with a hinge mechanism.
10. A passive ornithopter wing for use in an ornithopter according to claim 9, wherein: the two ends of the hinge mechanism are respectively fixedly connected with the section wing connecting device (12) and the outer section wing connecting device (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311585794.8A CN117944909A (en) | 2023-11-24 | 2023-11-24 | Passive flapping wing for flapping wing aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311585794.8A CN117944909A (en) | 2023-11-24 | 2023-11-24 | Passive flapping wing for flapping wing aircraft |
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| Publication Number | Publication Date |
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| CN117944909A true CN117944909A (en) | 2024-04-30 |
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| CN202311585794.8A Pending CN117944909A (en) | 2023-11-24 | 2023-11-24 | Passive flapping wing for flapping wing aircraft |
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