主动变形扑翼飞行器的设计和风洞测力试验研究

主动变形扑翼可以模仿鸟翼飞行时的复杂运动。为了了解主动变形扑翼飞行器的气动特性,在研究鸟类骨骼结构和翅膀及尾翼运动规律的基础上,设计并制造了一种基于机器人技术的主动变形扑翼飞行器;给出了主动变形扑翼飞行器的机构运动规律函数,并设计出机构运动控制系统;在低速风洞中对此飞行器进行了一系列测力试验,研究了主动变形扑翼的升力、推力特性,以及风速、扑动频率、扑动幅度、伸展相位等参数对升力和推力的影响,并与常规扑翼进行了对比分析。试验结果表明,较之常规扑翼,主动变形扑翼可以显著增加升力和增强对不同飞行状态的适应能力。     

扑翼微飞行器飞行时的数值模拟与分析

采用数值方法求解三维非定常不可压缩的N-S方程,生成了相应的扑翼微飞行器的三维动网格;模拟了扑翼微飞行器在不同频率、不同攻角、不同振幅、不同飞行速度、不同的翅膀初始位置下的非稳态流场;计算了扑翼微飞行器在不同运动模态下的升阻力系数;分析了影响扑翼微飞行器空气动力学的特性的不同因素;为扑翼微飞行器的飞行机制和建造提供了理论依据。     

扑翼非定常运动对平尾影响及俯仰力矩特性研究

为了研究微型扑翼飞行器尾流对其平尾设计、飞行器稳定性以及飞行控制的影响,选取微型扑翼飞行器ASN-211为原模型,采用将其简化为二维的前后串列翼模型进行具体计算和分析。首先以Fluent动网格技术为背景,在用户自定义函数控制扑翼的非定常运动条件下进行不可压、非定常二维流动的计算,并研究在扑翼非定常运动条件下的模型的俯仰力矩特性。然后通过计算不同来流攻角、扑翼扑动频率、扑翼与平尾间距以及不同力矩中心下扑翼、平尾及总的力矩系数,讨论各个参数对力矩特性的影响。最后得出不同的扑翼扑动频率以及扑翼与平尾间距将会对平尾与扑翼的俯仰力矩间的相位差产生影响,所得结论为扑翼飞机的重心布置设计提供参考。     

柔性扑翼微型飞行器升力和推力机理的风洞试验和飞行试验

为探讨柔性扑翼微型飞行器产生升力和推力的机理,在研究考虑柔性大变形扑翼气动力计算方法基础上,利用南京航空航天大学低速风洞进行了不同扑动频率、迎角、速度下微型扑翼升力、推力的变化和动态流场显示等风洞实验,并与计算结果进行了比较分析,为微型扑翼机的设计提供了的参考依据.自行研制的微型柔性结构扑翼机成功地进行了飞行试验.      

可差动扭转扑翼飞行器的设计和风洞试验研究

常规的仿鸟扑翼飞行器在飞行时机翼只是单纯地上下扑动。为提高扑翼飞行器横航向和航迹控制的品质,设计了一种机翼在扑动的同时可差动扭转的仿鸟扑翼飞行器;在低速风洞中对其进行了一系列测力试验,研究了可差动扭转扑翼飞行器的升力、推力特性,以及机翼差动扭转角、扑动频率、风速、机翼柔性对滚转力矩系数的影响;对设计的扑翼飞行器做了飞行试验,验证了设计的可行性,并与常规扑翼飞行器作了对比,试验结果表明：可差动扭转扑翼可以用于扑翼飞行器的横向控制,并且可以提高其抗风能力和航迹控制精度。     

扑翼微型飞行器悬停状态的扑动模式设计

依据美国伯克利大学对微型扑翼飞行器空气动力学的研究成果,对翼展处于10~25 mm(翼尖到翼尖)的扑翼微型飞行器的扑动模式进行了研究。设计了一种当飞行器处于悬停状态时,翼的扑动模式,使得飞行器可以通过改变扑动参数的大小来调节扑动力。仿真结果验证了设计方法的合理性。该研究为扑翼微型飞行器的飞行控制研究提供了一种手段和思路。     

基于非定常涡格法的扑翼飞行器气动特性优化

旨在为柔性扑翼飞行器的翼面选型与设计提供一定依据,研究其气动优化.建立了扑翼的非定常涡格法(UVLM)尾涡模型;采用面向对象的编程技术对该模型进行求解并引入GPU流式编程技术实现了UVLM并行计算,使其执行效率提高了3倍;以升力和推力的最大化为目标,并采用模式搜索法对扑翼的扑动与俯仰运动相位差、扑动频率与柔性扭转角以及翼面结构进行了优化.结果显示,要获得尽可能大的气动推力,翼面应设计成倒梯形且其外翼段应具较大面积,要使升力最大化则需将翼面设计成正梯形布局并应使内翼段面积较大;为进一步提高FMAV推力,应在增大扑动频率的同时适当减小翼面的柔性扭转角.研究表明,内嵌UVLM的模式搜索法可望成为FMAV气动优化的一个重要工具.     

微型扑翼飞行器升力特性研究

为了对微型扑翼飞行器升力机理进行探索性研究,本文利用西北工业大学微型飞行器专用风洞进行了扑动翼频率、风速、迎角、扑动翼弯度对其升力特性影响的研究.并且利用示波器对扑动翼扑动相位角和产生升力大小之间的关系进行了研究.试验结果表明升力特性的研究为微型扑翼飞行器总体设计和气动布局设计提供了一定的工程指导.     

微型扑翼飞行器扑动机构相关研究进展

微型扑翼飞行器(FMAV)具有独特的外形和飞行优势,具有重要的军事和民用价值。扑动机构是微型扑翼飞行器实现能量转换和机翼仿生运动的核心部件,是扑翼飞行器研究中极其重要的一环。阐述了扑动机构仿生规律实现、设计方法的最新进展,同时就设计中的关键技术进行了评述,主要为:仿生扑动规律的实现;提高系统效率的机构匹配设计方法;扑动机构的发展趋势。     

扑翼飞行器柔性翼的动力分析与实验

针对小型扑翼飞行器柔性翼的特点,提出了一种利用欧拉方程结合有限元分析计算柔性扑翼上气动力的分析方法,并进行了样机推力测量实验.实验证明计算结果能很好地反映出扑动周期中不同时刻的推力特征.该方法既可以得到宏观上的推力、扑动阻力,又可以得到不同扑动参数下翼上各处的气动力分布,为柔性扑翼的设计优化提供帮助.      

Proportional fuzzy feed-forward architecture control validation by wind tunnel tests of a morphing wing

In aircraft wing design, engineers aim to provide the best possible aerodynamic performance under cruise flight conditions in terms of lift-to-drag ratio. Conventional control sur-faces such as flaps, ailerons, variable wing sweep and spoilers are used to trim the aircraft for other flight conditions. The appearance of the morphing wing concept launched a new challenge in the area of overall wing and aircraft performance improvement during different flight segments by locally altering the flow over the aircraft's wings. This paper describes the development and appli-cation of a control system for an actuation mechanism integrated in a new morphing wing structure. The controlled actuation system includes four similar miniature electromechanical actuators dis-posed in two parallel actuation lines. The experimental model of the morphing wing is based on a full-scale portion of an aircraft wing, which is equipped with an aileron. The upper surface of the wing is a flexible one, being closed to the wing tip; the flexible skin is made of light composite materials. The four actuators are controlled in unison to change the flexible upper surface to improve the flow quality on the upper surface by delaying or advancing the transition point from laminar to turbulent regime. The actuators transform the torque into vertical forces. Their bases are fixed on the wing ribs and their top link arms are attached to supporting plates fixed onto the flex-ible skin with screws. The actuators push or pull the flexible skin using the necessary torque until the desired vertical displacement of each actuator is achieved. The four vertical displacements of the actuators, correlated with the new shape of the wing, are provided by a database obtained through a preliminary aerodynamic optimization for specific flight conditions. The control system is designed to control the positions of the actuators in real time in order to obtain and to maintain the desired shape of the wing for a specified flight condition. The feasibility and effectiveness of the developed control system by use of a proportional fuzzy feed-forward methodology are demon-strated experimentally through bench and wind tunnel tests of the morphing wing model.     

Flapping and flexible wings for biological and micro air vehicles

Micro air vehicles (MAVs) with wing spans of 15 cm or less, and flight speed of 30–60 kph are of interest for military and civilian applications. There are two prominent features of MAV flight: (i) low Reynolds number (10⁴–10⁵), resulting in unfavorable aerodynamic conditions to support controlled flight, and (ii) small physical dimensions, resulting in certain favorable scaling characteristics including structural strength, reduced stall speed, and low inertia. Based on observations of biological flight vehicles, it appears that wing motion and flexible airfoils are two key attributes for flight at low Reynolds number. The small size of MAVs corresponds in nature to small birds, which do not glide like large birds, but instead flap with considerable change of wing shape during a single flapping cycle. With flapping and flexible wings, birds overcome the deteriorating aerodynamic performance under steady flow conditions by employing unsteady mechanisms. In this article, we review both biological and aeronautical literatures to present salient features relevant to MAVs. We first summarize scaling laws of biological and micro air vehicles involving wing span, wing loading, vehicle mass, cruising speed, flapping frequency, and power. Next we discuss kinematics of flapping wings and aerodynamic models for analyzing lift, drag and power. Then we present issues related to low Reynolds number flows and airfoil shape selection. Recent work on flexible structures capable of adjusting the airfoil shape in response to freestream variations is also discussed.     

飞翼布局无人机变形机翼设计与模型验证研究

对飞翼布局无人机变形机翼和变形机翼传动机构进行了设计,根据设计结果制作验证模型进行风洞实验和外场飞行试验,以此研究伸缩段机翼对飞行器机翼整体气动性能的影响。结果表明:采用变形机翼技术,可以通过实时控制机翼的气动外形保持较高的气动效率,提高飞机在巡航状态下的升力和高速飞行状态下的机动性,满足飞机在各种任务剖面的战术性能要求。     

Unsteady aerodynamics and flow control for flapping wing flyers

The creation of micro air vehicles (MAVs) of the same general sizes and weight as natural fliers has spawned renewed interest in flapping wing flight. With a wingspan of approximately 15 cm and a flight speed of a few meters per second, MAVs experience the same low Reynolds number (10⁴–10⁵) flight conditions as their biological counterparts. In this flow regime, rigid fixed wings drop dramatically in aerodynamic performance while flexible flapping wings gain efficacy and are the preferred propulsion method for small natural fliers. Researchers have long realized that steady-state aerodynamics does not properly capture the physical phenomena or forces present in flapping flight at this scale. Hence, unsteady flow mechanisms must dominate this regime. Furthermore, due to the low flight speeds, any disturbance such as gusts or wind will dramatically change the aerodynamic conditions around the MAV. In response, a suitable feedback control system and actuation technology must be developed so that the wing can maintain its aerodynamic efficiency in this extremely dynamic situation; one where the unsteady separated flow field and wing structure are tightly coupled and interact nonlinearly. For instance, birds and bats control their flexible wings with muscle tissue to successfully deal with rapid changes in the flow environment. Drawing from their example, perhaps MAVs can use lightweight actuators in conjunction with adaptive feedback control to shape the wing and achieve active flow control. This article first reviews the scaling laws and unsteady flow regime constraining both biological and man-made fliers. Then a summary of vortex dominated unsteady aerodynamics follows. Next, aeroelastic coupling and its effect on lift and thrust are discussed. Afterwards, flow control strategies found in nature and devised by man to deal with separated flows are examined. Recent work is also presented in using microelectromechanical systems (MEMS) actuators and angular speed variation to achieve active flow control for MAVs. Finally, an explanation for aerodynamic gains seen in flexible versus rigid membrane wings, derived from an unsteady three-dimensional computational fluid dynamics model with an integrated distributed control algorithm, is presented.     

扑翼飞行器动力系统建模方法

为快速评估扑翼飞行器的航时,便于针对不同扑动翼进行动力系统设计与优化,逐步减少实物验证与试飞,加快扑翼飞行器的研制,基于实验数据参数辨识的方法建立了包含直流无刷电机、电调（ESC）、锂电池和扑动机构等扑翼飞行器动力系统组件的动态模型,其中电机模型相对误差小于10%,锂电池动态模型相对误差小于6%;提出了一种基于风洞试验气动数据和功率数据的扑动轴瞬时气动载荷半经验高精度建模方法,解决了气动载荷测量较为困难的问题,模型确定系数大于0.89;集成以上模型后的扑翼飞行器仿真系统还包含扑动翼周期平均气动模型、平尾气动模型和纵向控制模型,确保仿真在动态配平状态下进行,可进行全任务剖面航时仿真,航时仿真与实际试飞结果相比误差小于3%。集成的扑翼飞行器仿真系统采用模块化建模思想,各模型参数独立可调,能进一步应用于扑翼飞行器多学科优化等研究。     

Experimental investigations of a full model with adaptive elasto-flexible membrane wings

The morphing wing concept aims to constantly adapt the aerodynamics to different flight stages. The wing is able to adapt to different flight conditions by an adjustable Aspect Ratio (AR) and sweep. A high AR configuration provides high aerodynamic efficiency, while a low AR configuration, with highly swept wings offers a good maneuverability. Additionally, the flexible membrane allows the wing surface to stretch and contract in-plane as well as the airfoil to adapt to different aerodynamic loads. In the context of this work, the aerodynamic characteristics of a full model with form-adaptive elasto-flexible membrane wings are investigated experimentally. The focus is on the high-lift regime and on the analysis of the aerodynamic coefficients as well as their sensitivities. Especially, the lateral aerodynamic derivatives at asymmetric wing positions are of interest.     

三维仿生悬停扑翼的时间非对称扑动气动特性

基于对现有黄蜂飞行观察实验的分析，建立了不同下扑和上挥时间非对称扑动悬停扑翼运动轨迹模型，并采用数值求解三维层流Navier-Stokes(N-S)方程的方法，研究了采用不同下扑和上挥时间比的仿生悬停扑翼气动特性.结果表明采用适当的时间非对称扑动可以增强悬停扑翼的气动性能.进一步通过对不同时间非对称扑动扑翼流场分析得出，采用时间非对称扑动不但可以增强使扑翼产生高升力的旋转环流机制，而且还可以增强扑翼表面涡流和展向流的强度,从而使扑翼具有更好的气动性能.      

基于PD控制的仿昆虫扑翼样机研制

仿昆虫微型扑翼飞行器（FW-MAN）可以模仿昆虫悬停、垂直起飞以及侧飞等飞行姿态，从而适应复杂多障碍环境，具有广阔的应用前景。成功设计研制了一款重23.8 g，翼展18 cm，扑动幅值180°，扑动频率可达22 Hz的可垂直起飞的仿昆虫微型扑翼飞行器。采用曲柄摇杆与滑轮的组合机构作为样机扑动机构以解决原有样机扑动方案存在高摩擦及结构复杂等问题，样机翅翼设计为具有扭转角度的柔性翅翼从而使样机具有更高的气动效率。考虑到现有的姿态调节机制存在增加机构复杂度问题，基于翅翼扭转的姿态调节机制，设计了相应的控制调节机构，并搭建了样机气动力测量平台和姿态调节平台。气动升力与姿态力矩测量结果表明，样机翅翼可提供足够升力，姿态调节机制具有可行性。在此基础上，选取PD （Proportional Differential）控制律作为样机控制方式，为解决参数调定耗时及直接试飞样机不易观察控制效果问题，基于姿态调节平台获取了初始控制参数，然后对样机进行了多次试飞实验，并多次调定参数，最终实现了样机稳定垂直起飞。