WO2009015653A2 - Small aircraft operated by beating wings - Google Patents

Small aircraft operated by beating wings Download PDF

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Publication number
WO2009015653A2
WO2009015653A2 PCT/DE2008/001249 DE2008001249W WO2009015653A2 WO 2009015653 A2 WO2009015653 A2 WO 2009015653A2 DE 2008001249 W DE2008001249 W DE 2008001249W WO 2009015653 A2 WO2009015653 A2 WO 2009015653A2
Authority
WO
WIPO (PCT)
Prior art keywords
wing
flapping
beating
wings
movement
Prior art date
Application number
PCT/DE2008/001249
Other languages
German (de)
French (fr)
Other versions
WO2009015653A3 (en
Inventor
Adrian Carlos GONZALEZ DE MENDOZA Y KÄDING
Original Assignee
Gonzalez De Mendoza Y Kaeding
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gonzalez De Mendoza Y Kaeding filed Critical Gonzalez De Mendoza Y Kaeding
Publication of WO2009015653A2 publication Critical patent/WO2009015653A2/en
Publication of WO2009015653A3 publication Critical patent/WO2009015653A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C33/00—Ornithopters
    • B64C33/02—Wings; Actuating mechanisms therefor

Definitions

  • the invention relates to unmanned wing-powered small aircraft, which for
  • the problem underlying the present invention is to find a hoverable, well maneuverable and inexpensive mini-aircraft to be manufactured.
  • a small aircraft consists of a basic body around which four flapping wings are mounted in a uniform distribution. All four flapping wings beat in one plane. The impact areas of the flapping wings are placed against each other like a cloverleaf. The wings beat to their two neighbors each in opposite phases, ie a wing approaches at the stroke of his right neighbor, who simultaneously moves towards him. Upon kickback, the flapping wing then approaches according to its left neighbor. In this way, the torques exerted on the base body by the flapping blades compensate each other.
  • the flapping wings are connected by a rotary joint with the base body, but via a flexurally elastic component, which allows the required deformation for the impact movement without taking any damage itself.
  • the displacer surface of the flapping wing consists of a flexible membrane, which is attached to a fixed Spanngalgen.
  • the electromagnets act simultaneously as sensors which determines the instantaneous position of the flapping wing from the induced by the movement in the magnetic field of the impact area limiting magnet currents and controls the energization and the polarity of the electromagnet depending on this information.
  • a drive unit according to the invention can generate different thrust on the individual wings by different activation of the at least four electromagnets. It thus achieves lateral maneuverability. If the wings in their right-hand reversal region are more strongly excited than in the left, a torque is created and thus a maneuverability about the vertical axis of the aircraft. An inventive small aircraft therefore does not need any rudder to control.
  • An aircraft according to the invention is easily miniaturized due to its simple structure and is particularly suitable for mass production.
  • Fig. 1 shows an inventive drive unit with four flapping wings 7 which are about a flexurally elastic component 5, which allows for the Seh lag movement required deformation without even damage to the base body 6 are attached.
  • the displacer surface 1 of the flapping wing 7 consists of a flexible membrane, which is clamped in a fixed clamping boom 2.
  • At the base of Spanngalgens 2 is at least one resonating electromagnet 4 which at the end of each half-stroke with fixed, arranged between the impact areas 8 permanent magnet 3 corresponds, which are connected to the base body 6.
  • the electromagnets 3 simultaneously act as sensors which determines the instantaneous position of the flapping blade 7 from the currents induced by the movement in the magnetic field of the impact area 8 limiting permanent magnets 3 and control the energization and the polarity of the electromagnet 4 depending on this information.
  • the drive unit shown by different actuation of the four electromagnets 4 generate different thrust on the individual wings. It thus achieves lateral maneuverability. If the flapping wings 7 are more strongly excited in their right-hand reversal region than in the left, a torque is created and thus a maneuverability about the vertical axis of the aircraft.
  • Fig. 2 shows an advantageous embodiment of the invention with two electromagnets 4 at the wing base of each flapping wing 7.
  • additional control torques can be generated.
  • the angle of attack of the beating wing can be influenced, which leads to a change in the thrust-generating properties of the flapping wing 1.

Abstract

The invention relates to a small aircraft operated by beating wings, characterised in that: it comprises a central base body (6) around which four beating wings are symmetrically arranged, each beating wing carrying out a beating movement in antiphase to its neighbour; the four beating wings are each connected to the base body by an elastic structural element (5) providing the freedom of movement required for the beating movement of the beating wing; and each beating wing is provided with an independently controllable drive mechanism supplying the impulse for generating or maintaining the oscillatory movement of the beating wing.

Description

Beschreibung description
Schlagflügelbetriebenes KleinfluggerätFlapping operated small aircraft
Technisches GebietTechnical area
[1] Die Erfindung betrifft unbemannte schlagflügelgetriebene Kleinfluggeräte, welche fürThe invention relates to unmanned wing-powered small aircraft, which for
Aufgaben im Bereich der Dokumentation, Messwertaufnahme, Beobachtung, Koordination und Kommunikation eingesetzt werden. Die Erfindung beschäftigt sich insbesondere mit MAVs mit Senkrechtstart- und Schwebflugfähigkeit (VTOL = Vertical TakeOff and Landing).Tasks in the field of documentation, data acquisition, observation, coordination and communication are used. The invention is particularly concerned with MAVs with vertical takeoff and hovercraft capability (VTOL = Vertical TakeOff and Landing).
Zugrundeliegender Stand der TechnikUnderlying state of the art
[2] Kleinfluggeräte wurden bisher vor allem mit Luftschrauben angetrieben. Serienprodukte auf der Basis von Schlagflügelantrieben werden seit kurzem im Modellflugbereich angeboten. Sie besitzen jedoch keine für den professionellen Einsatz ausreichende Manövrierfähigkeit und sind nicht schwebflugfähig. Außerdem erfüllen sie nicht die insbesondere vom Militär erhobene Forderung nach geringster Größe (unter 7,5cm Spannweite) und geringer Geräuschentwicklung. Schwebflugfähige Kleinstfluggeräte befinden sich derzeit noch in der Entwicklungsphase. Die Universität Delft arbeitet an einem stark miniaturisierten Modell, welches jedoch aufgrund seiner ruderbasierten Steuerung nur mäßige Schwebflugeigenschaften besitzt.Small aircraft have been driven mainly with propellers so far. Series products based on flapping wing drives are now being offered in the model flying range. However, they do not have sufficient maneuverability for professional use and are not capable of flight. In addition, they do not meet the particular requirement imposed by the military for the smallest size (less than 7.5 cm span) and low noise. Hoverable small aircraft are currently still in the development phase. The University of Delft is working on a highly miniaturized model, which, however, due to its rudder-based control has only moderate hovercraft characteristics.
Offenbarung der ErfindungDisclosure of the invention
Technisches ProblemTechnical problem
[3] Das der vorliegenden Erfindung zugrundeliegende Problem besteht darin ein schwebflugfähiges, gut manövrierbares und preiswert herzustellendes Kleinstfluggerät zu zu finden.The problem underlying the present invention is to find a hoverable, well maneuverable and inexpensive mini-aircraft to be manufactured.
Technische LösungTechnical solution
[4] Ein erfindungsgemäßes Kleinfluggerät besteht aus einem Grundkörper um den in gleichmäßiger Verteilung vier Schlagflügel angebracht sind. Alle vier Schlagflügel schlagen dabei in einer Ebene. Die Schlagbereiche der Schlagflügel sind dabei kleeblattartig aneinandergesetzt. Die Flügel schlagen zu ihren beiden Nachbarn jeweils gegenphasig, d. h. ein Flügel nähert sich beim Hinschlag seinem rechten Nachbarn, der sich gleichzeitig auf ihn zu bewegt. Beim Rückschlag nähert sich der Schlagflügel dann entsprechend seinem linken Nachbarn. Auf diese Weise gleichen sich die durch die Schlagflügel auf den Grundkörper ausgeübten Drehmomente gegeneinander aus. Die Schlagflügel sind dabei durch ein Drehgelenk mit dem Grundkörper verbunden, sondern über ein biegeelastisches Bauelement, welches die für die Schlagbewegung erforderliche Verformung ermöglicht ohne selbst Schaden zu nehmen. Es bildet außerdem einen Energiespeicher, der die überschüssige kinetische Energie des bewegten Schlagflügels am Ende eines Halbschlags aufgenommen hat und für die Rückbeschleunigung zur Verfügung stellt. Die Verdrängerfläche des Schlagflügels besteht dabei aus einer flexiblen Membran, welche an einem festen Spanngalgen befestigt ist. An der Basis des Spanngalgens befindet sich mindestens ein mitschwingender Elektromagnet welcher am Ende jeden Halbschlages mit fest stehenden, zwischen den Schlagbereichen angeordneten Permanentmagneten korrespondiert, die mit dem Grundkörper verbunden sind. Durch Anziehungs- bzw. Abstoßungskräfte zwischen dem mitschwingenden Elektromagneten und den feststehenden Permanentmagneten wird die erforderliche Antriebsenergie in das System eingebracht. Dabei wirken die Elektromagnete gleichzeitig als Sensoren, welche die augenblickliche Position des Schlagflügels aus den durch die Bewegung im Magnetfeld der den Schlagbereich begrenzenden Magneten induzierten Strömen ermittelt und abhängig von dieser Information die Bestromung und die Polung des Elektromagneten steuert. Auf diese Weise kann ein erfindungsgemäßes Antriebsaggregat durch unterschiedliche Ansteuerung der mindestens vier Elektromagnete unterschiedlichen Schub an den Einzelflügeln erzeugen. Es erreicht damit eine seitliche Manövrierfähigkeit. Werden die Flügel in ihrer rechten Umkehrregion stärker angeregt als in der Linken entsteht ein Drehmoment und somit eine Manövrierfähigkeit um die Hochachse des Fluggerätes. Ein erfindungsgemäßes Kleinfluggerät benötigt also zur Steuerung keinerlei Ruder.[4] A small aircraft according to the invention consists of a basic body around which four flapping wings are mounted in a uniform distribution. All four flapping wings beat in one plane. The impact areas of the flapping wings are placed against each other like a cloverleaf. The wings beat to their two neighbors each in opposite phases, ie a wing approaches at the stroke of his right neighbor, who simultaneously moves towards him. Upon kickback, the flapping wing then approaches according to its left neighbor. In this way, the torques exerted on the base body by the flapping blades compensate each other. The flapping wings are connected by a rotary joint with the base body, but via a flexurally elastic component, which allows the required deformation for the impact movement without taking any damage itself. It also makes one Energy storage, which has absorbed the excess kinetic energy of the moving flapping wing at the end of a half-stroke and provides for the re-acceleration. The displacer surface of the flapping wing consists of a flexible membrane, which is attached to a fixed Spanngalgen. At the base of the clamping yoke there is at least one resonating electromagnet which at the end of each half-stroke corresponds with fixed, arranged between the impact areas permanent magnet, which are connected to the main body. By attraction or repulsion forces between the resonant electromagnet and the stationary permanent magnet, the required drive energy is introduced into the system. In this case, the electromagnets act simultaneously as sensors which determines the instantaneous position of the flapping wing from the induced by the movement in the magnetic field of the impact area limiting magnet currents and controls the energization and the polarity of the electromagnet depending on this information. In this way, a drive unit according to the invention can generate different thrust on the individual wings by different activation of the at least four electromagnets. It thus achieves lateral maneuverability. If the wings in their right-hand reversal region are more strongly excited than in the left, a torque is created and thus a maneuverability about the vertical axis of the aircraft. An inventive small aircraft therefore does not need any rudder to control.
[5] Ein erfindungsgemäßes Fluggerät ist aufgrund seines einfachen Aufbaus leicht miniaturisierbar und eignet sich in besonderer Weise für die Massenfertigung.An aircraft according to the invention is easily miniaturized due to its simple structure and is particularly suitable for mass production.
Beschreibung der ZeichnungenDescription of the drawings
Bezugszeichenliste:LIST OF REFERENCE NUMBERS
1 Verdrängerfläche1 displacement surface
2 Spanngalgen2 tensioning jibs
3 Feststehender Permanentmagnet3 Fixed permanent magnet
4 mitschwingender Elektromagnet4 resonant electromagnet
5 biegeelastisches Bauelement5 flexurally elastic component
6 Grundkörper6 basic body
7 Schlagflügel7 flapping wings
8 Schlagbereich8 beat area
[6] Fig. 1 zeigt ein erfindungsgemäßes Antriebsaggregat mit vier Schlagflügeln 7 welche über ein biegeelastisches Bauelement 5, welches die für die Seh lag beweg ung erforderliche Verformung ermöglicht ohne selbst Schaden zu nehmen am Grundkörper 6 befestigt sind. Die Verdrängerfläche 1 des Schlagflügels 7 besteht dabei aus einer flexiblen Membran, welche in einem festen Spanngalgen 2 aufgespannt ist. An der Basis des Spanngalgens 2 befindet sich mindestens ein mitschwingender Elektromagnet 4 welcher am Ende jeden Halbschlages mit fest stehenden, zwischen den Schlagbereichen 8 angeordneten Permanentmagneten 3 korrespondiert, die mit dem Grundkörper 6 verbunden sind. Durch Anziehungs- bzw. Abstoßungskräfte zwischen dem mitschwingenden Elektromagneten 4 und den feststehenden Permanentmagneten 3 wird die erforderliche Antriebsenergie in das System eingebracht. Dabei wirken die Elektromagnete 3 gleichzeitig als Sensoren, welche die augenblickliche Position des Schlagflügels 7 aus den durch die Bewegung im Magnetfeld der den Schlagbereich 8 begrenzenden Permanentmagneten 3 induzierten Strömen ermittelt und abhängig von dieser Information die Bestromung und die Polung des Elektromagneten 4 steuern. Auf diese Weise kann das dargestellte Antriebsaggregat durch unterschiedliche Ansteuerung der vier Elektromagnete 4 unterschiedlichen Schub an den Einzelflügeln erzeugen. Es erreicht damit eine seitliche Manövrierfähigkeit. Werden die Schlagflügel 7 in ihrer rechten Umkehrregion stärker angeregt als in der Linken entsteht ein Drehmoment und somit eine Manövrierfähigkeit um die Hochachse des Fluggerätes.Fig. 1 shows an inventive drive unit with four flapping wings 7 which are about a flexurally elastic component 5, which allows for the Seh lag movement required deformation without even damage to the base body 6 are attached. The displacer surface 1 of the flapping wing 7 consists of a flexible membrane, which is clamped in a fixed clamping boom 2. At the base of Spanngalgens 2 is at least one resonating electromagnet 4 which at the end of each half-stroke with fixed, arranged between the impact areas 8 permanent magnet 3 corresponds, which are connected to the base body 6. By attraction or repulsion forces between the resonant electromagnet 4 and the stationary permanent magnet 3, the required drive energy is introduced into the system. In this case, the electromagnets 3 simultaneously act as sensors which determines the instantaneous position of the flapping blade 7 from the currents induced by the movement in the magnetic field of the impact area 8 limiting permanent magnets 3 and control the energization and the polarity of the electromagnet 4 depending on this information. In this way, the drive unit shown by different actuation of the four electromagnets 4 generate different thrust on the individual wings. It thus achieves lateral maneuverability. If the flapping wings 7 are more strongly excited in their right-hand reversal region than in the left, a torque is created and thus a maneuverability about the vertical axis of the aircraft.
[7] Fig. 2 zeigt eine vorteilhafte Ausführungsform der Erfindung mit zwei Elektromagneten 4 an der Flügelbasis jedes Schlagflügels 7. Durch unterschiedliche und gegebenenfalls phasenverschobene Ansteuerung dieser Elektromagnete 4 können zusätzliche Steuermomente erzeugt werden. Auch kann der Anstellwinkel des schlagenden Flügels beeinflusst werden, was zu einer Veränderung der schuberzeugenden Eigenschaften des Schlagflügels 1 führt. Fig. 2 shows an advantageous embodiment of the invention with two electromagnets 4 at the wing base of each flapping wing 7. By different and optionally phase-shifted control of these electromagnets 4 additional control torques can be generated. Also, the angle of attack of the beating wing can be influenced, which leads to a change in the thrust-generating properties of the flapping wing 1.

Claims

Ansprüche Expectations
[1] Schlagflügelgetriebenes Kleinfluggerät, dadurch gekennzeichnet,dass dieses einen zentralen Grundkörper 6 besitzt um den herum vier Schlagflügel gleichmäßig angeordnet sind und jeder dieser Schlagflügel zu seinen Nachbarn eine gegenphasige Schlagbewegung ausführt, und dass jeder der vier Schlagflügel an einem biegeelastischen Bauelement 5 mit dem Grundkörper verbunden ist, und dieses biegeelastische Bauelement die für die Schlagbewegung des Schlagflügels erforderliche Bewegungsfreiheit bereitstellt und dass jedes der Schlagflügel über einen unabhängig steuerbaren Antriebsaggregate verfügt, welche den Impuls zur Erzeugung oder Aufrechterhaltung der Schwingbewegung des Schlagflügels bereitstellt.[1] Flap-wing-driven small aircraft, characterized in that it has a central base body 6 around which four flapping wings are evenly arranged and each of these flapping wings executes a flapping movement in anti-phase to its neighbors, and that each of the four flapping wings is attached to a flexible component 5 with the base body is connected, and this flexible component provides the freedom of movement required for the flapping movement of the flapping wing and that each of the flapping wings has an independently controllable drive unit, which provides the impulse to generate or maintain the oscillating movement of the flapping wing.
[2] Schlagflügelgetriebenes Kleinfluggerät nach Anspruch 1, dadurch gekennzeichnet, dass die Antriebsaggregate aus einer Kombination aus Elektromagneten und Permanentmagneten bestehen.[2] Flap-wing-powered small aircraft according to claim 1, characterized in that the drive units consist of a combination of electromagnets and permanent magnets.
[3] Schlagflügelgetriebenes Kleinfluggerät nach Anspruch 2, dadurch gekennzeichnet, dass die Kombination aus Elektromagneten und Permanentmagneten gleichzeitig der sensorischen Lageerfassung des einzelnen Schlagflügels dient und diese Information für die Steuerung des Fluggerätes verwendet wird. [3] Flap-wing-driven small aircraft according to claim 2, characterized in that the combination of electromagnets and permanent magnets simultaneously serves to sensorically detect the position of the individual flapping wing and this information is used to control the aircraft.
PCT/DE2008/001249 2007-07-27 2008-07-27 Small aircraft operated by beating wings WO2009015653A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710035760 DE102007035760B4 (en) 2007-07-27 2007-07-27 Flapping wing arrangement
DE102007035760.7 2007-07-27

Publications (2)

Publication Number Publication Date
WO2009015653A2 true WO2009015653A2 (en) 2009-02-05
WO2009015653A3 WO2009015653A3 (en) 2009-06-04

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WO (1) WO2009015653A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2470712A (en) * 2009-03-11 2010-12-08 Shijun Guo Air vehicle with flapping rotor
CN109878722A (en) * 2019-03-12 2019-06-14 西北工业大学 Four clap the hovering flapping wing aircraft for closing effect and hovering flapping flight method
CN110155321A (en) * 2019-05-28 2019-08-23 中国民航大学 One kind is to bat four wing flapping wing aircraft of formula and movement technique

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2018958B1 (en) * 2017-05-22 2018-12-04 Univ Delft Tech Flapping wing aerial vehicle

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Publication number Priority date Publication date Assignee Title
US3728814A (en) * 1972-01-17 1973-04-24 G Ruston Toy ornithopter wind-driving mechanism
US6082671A (en) * 1998-04-17 2000-07-04 Georgia Tech Research Corporation Entomopter and method for using same
US6250585B1 (en) * 1997-09-05 2001-06-26 Nekton Technologies, Inc. Impellers with bladelike elements and compliant tuned transmission shafts and vehicles including same
JP2003135866A (en) * 2001-11-08 2003-05-13 Sharp Corp Driving mechanism and wing-flapping flying machine

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Publication number Priority date Publication date Assignee Title
DE315493C (en) *
DE1199155B (en) * 1958-09-01 1965-08-19 H Wiegmann Dipl Ing Flapping wing system for watercraft or aircraft or for fans and pumps
DD47871A1 (en) * 1965-05-24 1966-04-20 Fluid flow machine, in particular fluid pump
US4341499A (en) * 1980-03-24 1982-07-27 Barry Wright Corporation Blade retention system
DE3815283A1 (en) * 1988-05-05 1989-11-16 Rinnau Hans Joachim Flapping wing inertia control

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3728814A (en) * 1972-01-17 1973-04-24 G Ruston Toy ornithopter wind-driving mechanism
US6250585B1 (en) * 1997-09-05 2001-06-26 Nekton Technologies, Inc. Impellers with bladelike elements and compliant tuned transmission shafts and vehicles including same
US6082671A (en) * 1998-04-17 2000-07-04 Georgia Tech Research Corporation Entomopter and method for using same
JP2003135866A (en) * 2001-11-08 2003-05-13 Sharp Corp Driving mechanism and wing-flapping flying machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2470712A (en) * 2009-03-11 2010-12-08 Shijun Guo Air vehicle with flapping rotor
CN109878722A (en) * 2019-03-12 2019-06-14 西北工业大学 Four clap the hovering flapping wing aircraft for closing effect and hovering flapping flight method
CN110155321A (en) * 2019-05-28 2019-08-23 中国民航大学 One kind is to bat four wing flapping wing aircraft of formula and movement technique
CN110155321B (en) * 2019-05-28 2022-04-15 中国民航大学 Opposite-flapping type four-wing flapping wing aircraft and motion method

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WO2009015653A3 (en) 2009-06-04
DE102007035760B4 (en) 2010-02-04
DE102007035760A1 (en) 2009-02-05

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