仿生扑翼机器人气动理论与实验研究
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摘要
扑翼飞行是自然界飞行生物普遍采用的飞行模式，与固定翼和旋翼飞行模式相比，扑翼飞行仅依靠翼面的扑动即可同时产生升力和推力，具有飞行效率高，机动性好，结构紧凑的优点。仿生扑翼飞行机器人是一种模拟飞行生物的扑翼飞行模式，集成微机电系统、微动力系统、微控制系统等多种前沿技术于一体的先进微小飞行机器人，能够在军事领域和民用领域发挥巨大作用，是近年来研究的热点。然而，实现飞行性能接近或完全达到飞行生物的微小仿生扑翼飞行机器人目前还面临诸多问题，这不仅体现在微精密制造技术、高强度超轻材料技术、新能源技术等方面，更重要的是扑翼飞行的空气动力学机理发生了很大的变化。这是一种低雷诺数非定常粘性流场，传统的适用于固定翼或旋翼的稳态空气动力学原理已经不能适用。
为了揭示扑翼飞行非定常空气动力学理论，并将其应用到仿生扑翼飞行机器人，本文从传统固定翼和旋翼空气动力学理论出发，从仿生学、空气动力学和机构学等方面，对仿生扑翼飞行气动机理、翼型结构及其运动形式、翼面气动特性和扑翼机器人机构等进行了深入细致的研究，主要包括以下内容：
针对自然界飞行生物的扑翼飞行原理，以鸟类为研究重点，从身体构造、羽毛结构、运动方式、阻力消除、能耗利用等方面系统全面地阐述了鸟类飞行的高升力机理，提出减重、增升、减阻、节能是确保高效飞行的关键所在，也是未来仿生扑翼飞行机器人需要解决的关键问题。
建立了扑翼不可压非定常粘性流场的控制方程，并进行了空间域离散和时间域离散，给出了基于有限体积法的求解方法。在此基础上，给出了几种典型翼型流场的数值求解过程，获取了关于不同翼型几何形状及俯仰角、飞行速度、扑动频率等运动参数下的流场状态，给出了这些因素对扑翼飞行气动特性的影响规律。
提出了一种仿鸟扑翼机器人的运动模型和气动模型，并给出了采用改进的叶素理论对其进行整机翼面气动力的求解方法，将仿真结果与气动力测试实验结果进行了对比，在气动力变化趋势和周期内平均气动力数值方面均基本一致。在对小型样机进行气动力测试的基础上，又制作了大型扑翼飞行机器人，进行了实际飞行测试，实验结果与理论分析结果保持一致。
根据扑翼飞行的运动规律和扑翼飞行机器人的机构设计要求，提出了两种实现不同扑翼运动的机构。一种为具有“8”字形翼尖运动轨迹的仿小型鸟类和昆虫的扑翼机构，一种为翼面上扑可折叠的仿中大型鸟类的扑翼机构。三维模型仿真和运动分析结果表明两种机构均能实现高效扑翼运动。
Flapping wing flight is the common used flight mode by flying creatures of nature.Compared with the fixed-wing and rotary-wing flight mode, flapping-wing flight can generatelift and thrust simultaneously just relying on the wing’s flapp motion, but has the uniqueadvantages of high flight efficiency, high maneuverability and compact structure. Biomimeticflapping-wing robot is a new kind of micro air vehicle which imitates the flapping wing flightmode of flying creature, with integrating of micro electro mechanical system, micro powersystem, micro control system and other advanced technologies. It becomes the researchhotspot in recent years with the wide application prospects military or civilian field. However,to achieve a micro biomimetic flapping-wing flying robot with full flight performance offlying creatures is still unavailable, not only in terms of miniaturization of manufacturingtechnology, lightweight high-strength materials, new energy technology, the most important isthat the aerodynamics characteristics of flapping-wing flight are quite different. Flappingwing flow field is a low Reynolds number unsteady viscous flow, so the traditional steadyaerodynamics for fixed-wing or rotary-wing can no longer be used directly.
Aimed to reveal flapping-wing flight unsteady aerodynamic theory, and apply it to thebiomimetic flapping-wing robot, the fundamental issues of flapping wing flight, airfoilaerodynamic characteristics and flapping-wing mechanism are studied systematically in thepaper. The main contributions of the paper are as follows:
The aerodynamic performance for flapping wing flying creatures in nature is studied. Inbirds, as an example, from the body structure, feather structure, motion posture, drag control,and energy utilization, this paper comprehensively expounded the bird flying high liftperformance. The weight control, lift improvement, drag reduction and energy conservationare key issues in biomimetic flapping-wing flying robots design.
Incompressible unsteady viscous flow equations for flapping wing are established, andthe discrete solution methods in spatial domain and time domain are given based on the finitevolume method. According to the solution methods, several typical flapping wing airfoil flowfields with different shapes and motion parameters, such as pitch angle, flight speed, flapfrequency, are calculated in detail. In order to obtain high flight performance, differentparameters and their combination are given according to different flight condition or attitude.
Kinematic model and aerodynamic model for a biomimetic flapping wing robot imitatingbird are built up, and the improved strip theory is proposed to solve the aerodynamic force forflapping wing robot. The results of experiments and simulations coincide to each other basically and show the similar tendency of aerodynamics forces during downstroke andupstroke. The larger size flapping-wing flying robot flight tests also give the similarconclusion.
According to the different movements of flapping wings of insects and birds, twoflapping wing mechanisms are designed. One is with the "8"-shaped tip trajectory imitatingsmall birds or insects. The other is a foldable flapping wing mechanisim during upstroke.Three-dimensional model simulation and motion analysis results show that the twomechanisms can produce high efficient flapping-wing movement.
为了揭示扑翼飞行非定常空气动力学理论，并将其应用到仿生扑翼飞行机器人，本文从传统固定翼和旋翼空气动力学理论出发，从仿生学、空气动力学和机构学等方面，对仿生扑翼飞行气动机理、翼型结构及其运动形式、翼面气动特性和扑翼机器人机构等进行了深入细致的研究，主要包括以下内容：
针对自然界飞行生物的扑翼飞行原理，以鸟类为研究重点，从身体构造、羽毛结构、运动方式、阻力消除、能耗利用等方面系统全面地阐述了鸟类飞行的高升力机理，提出减重、增升、减阻、节能是确保高效飞行的关键所在，也是未来仿生扑翼飞行机器人需要解决的关键问题。
建立了扑翼不可压非定常粘性流场的控制方程，并进行了空间域离散和时间域离散，给出了基于有限体积法的求解方法。在此基础上，给出了几种典型翼型流场的数值求解过程，获取了关于不同翼型几何形状及俯仰角、飞行速度、扑动频率等运动参数下的流场状态，给出了这些因素对扑翼飞行气动特性的影响规律。
提出了一种仿鸟扑翼机器人的运动模型和气动模型，并给出了采用改进的叶素理论对其进行整机翼面气动力的求解方法，将仿真结果与气动力测试实验结果进行了对比，在气动力变化趋势和周期内平均气动力数值方面均基本一致。在对小型样机进行气动力测试的基础上，又制作了大型扑翼飞行机器人，进行了实际飞行测试，实验结果与理论分析结果保持一致。
根据扑翼飞行的运动规律和扑翼飞行机器人的机构设计要求，提出了两种实现不同扑翼运动的机构。一种为具有“8”字形翼尖运动轨迹的仿小型鸟类和昆虫的扑翼机构，一种为翼面上扑可折叠的仿中大型鸟类的扑翼机构。三维模型仿真和运动分析结果表明两种机构均能实现高效扑翼运动。
Flapping wing flight is the common used flight mode by flying creatures of nature.Compared with the fixed-wing and rotary-wing flight mode, flapping-wing flight can generatelift and thrust simultaneously just relying on the wing’s flapp motion, but has the uniqueadvantages of high flight efficiency, high maneuverability and compact structure. Biomimeticflapping-wing robot is a new kind of micro air vehicle which imitates the flapping wing flightmode of flying creature, with integrating of micro electro mechanical system, micro powersystem, micro control system and other advanced technologies. It becomes the researchhotspot in recent years with the wide application prospects military or civilian field. However,to achieve a micro biomimetic flapping-wing flying robot with full flight performance offlying creatures is still unavailable, not only in terms of miniaturization of manufacturingtechnology, lightweight high-strength materials, new energy technology, the most important isthat the aerodynamics characteristics of flapping-wing flight are quite different. Flappingwing flow field is a low Reynolds number unsteady viscous flow, so the traditional steadyaerodynamics for fixed-wing or rotary-wing can no longer be used directly.
Aimed to reveal flapping-wing flight unsteady aerodynamic theory, and apply it to thebiomimetic flapping-wing robot, the fundamental issues of flapping wing flight, airfoilaerodynamic characteristics and flapping-wing mechanism are studied systematically in thepaper. The main contributions of the paper are as follows:
The aerodynamic performance for flapping wing flying creatures in nature is studied. Inbirds, as an example, from the body structure, feather structure, motion posture, drag control,and energy utilization, this paper comprehensively expounded the bird flying high liftperformance. The weight control, lift improvement, drag reduction and energy conservationare key issues in biomimetic flapping-wing flying robots design.
Incompressible unsteady viscous flow equations for flapping wing are established, andthe discrete solution methods in spatial domain and time domain are given based on the finitevolume method. According to the solution methods, several typical flapping wing airfoil flowfields with different shapes and motion parameters, such as pitch angle, flight speed, flapfrequency, are calculated in detail. In order to obtain high flight performance, differentparameters and their combination are given according to different flight condition or attitude.
Kinematic model and aerodynamic model for a biomimetic flapping wing robot imitatingbird are built up, and the improved strip theory is proposed to solve the aerodynamic force forflapping wing robot. The results of experiments and simulations coincide to each other basically and show the similar tendency of aerodynamics forces during downstroke andupstroke. The larger size flapping-wing flying robot flight tests also give the similarconclusion.
According to the different movements of flapping wings of insects and birds, twoflapping wing mechanisms are designed. One is with the "8"-shaped tip trajectory imitatingsmall birds or insects. The other is a foldable flapping wing mechanisim during upstroke.Three-dimensional model simulation and motion analysis results show that the twomechanisms can produce high efficient flapping-wing movement.
引文
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