微扑翼飞行器驱动机构的设计与动态特性研究

微扑翼飞行器是一种新概念的飞行器,在应用技术上它超出了传统的飞机设计和气动力的研究范畴,同时开创了微机电系统技术(MEMS)在航空领域的应用。微扑翼驱动机构的设计、制作及其动态特性研究是飞行器设计中的关键环节。本文的研究对象是一个静电驱动的胸腔式微扑翼机构,由于这种结构存在着强烈的静电和机械两个物理场的非线性耦合,因此系统的动态特性是非常复杂的。本文从理论上分析了系统奇点的存在与稳定性;在相空间中分析了无阻尼及有阻尼系统的非线性动态特性;研究了初始条件和阻尼对临界拉入电压的影响;最后分析了在不同激励电压信号下系统的响应。所得研究结论对微扑翼驱动机构的设计、制作和应用提供了一定的理论依据。

Design and Dynamic Characteristics Study of Micro Actuator of Flapping-Wing MAV

Flapping-wing Micro Air Vehicles (FMAV) are new conceptual air vehicles.They surpass the research fields of traditional airplane design and aerodynamics in relation to application technologies,and initiate the applications of MEMS technologies to aviation fields.The design,fabrication and dynamic characteristics of micro flapping actuator are the keys of FMAV designing.This paper studies a micro flapping mechanism based upon insect thorax and actuated by electrostatic force.Because there are strong nonlinear couplings between the two physical domains,electrical and mechanical,the dynamic characteristics of this system are very complicated.In this paper,the stable properties of equilibrium points are analyzed,the nonlinear dynamic characteristics of the system without damping and with damping are studied in the phase space,and the effects of original conditions and damping on the pull-in voltage are discussed.In addition,dynamic responses of the system to different voltage signals are analyzed.The results are helpful to the design,fabrication and application of the micro flapping actuator.