单曲柄双摇杆扑翼驱动机构的优化设计

微扑翼飞行器在试飞过程中时常发生向左或者向右倾斜栽落的现象,这是由于左右扑翼动作的不完全对称性引起的.由此建立了驱动机构在一个运动周期内左右扑翼角之差和角速度之差的数学模型,并在机械学、仿生学等约束条件下利用模式搜索法对目标函数进行了优化设计.优化前后的参数对比分析和试飞试验均表明:该优化显著增强了微扑翼飞行器的运动对称性.

Optimization design for single-crank and double-rocker kind of driving mechanism of FMAV

Flapping-wing micro air vehicles(FMAV) often tilt toward the left or the right and fall off in the course of flight,and this is mainly caused by the incomplete symmetry of the wings' movement.Models of the margins of the flapping-angle and angular speed between the left wing and the right wing were established;and an optimization design for the objective function was carried out by using Hooke-Jeeves method under restraint conditions of mechanics,bionics and aerodynamics.Both comparative analysis of parameters before and after optimization and flight test indicate that the optimization can remarkably improve movement symmetry of flapping-wing micro air vehicles.