Nonlinear dynamics of a flapping rotary wing: Modeling and optimal wing kinematic analysis

The analysis of the passive rotation feature of a micro Flapping Rotary Wing(FRW)applicable for Micro Air Vehicle(MAV) design is presented in this paper. The dynamics of the wing and its influence on aerodynamic performance of FRW is studied at low Reynolds number(~10~3).The FRW is modeled as a simplified system of three rigid bodies: a rotary base with two flapping wings. The multibody dynamic theory is employed to derive the motion equations for FRW. A quasi-steady aerodynamic model is utilized for the calculation of the aerodynamic forces and moments. The dynamic motion process and the effects of the kinematics of wings on the dynamic rotational equilibrium of FWR and the aerodynamic performances are studied. The results show that the passive rotation motion of the wings is a continuous dynamic process which converges into an equilibrium rotary velocity due to the interaction between aerodynamic thrust, drag force and wing inertia. This causes a unique dynamic time-lag phenomena of lift generation for FRW, unlike the normal flapping wing flight vehicle driven by its own motor to actively rotate its wings. The analysis also shows that in order to acquire a high positive lift generation with high power efficiency and small dynamic time-lag, a relative high mid-up stroke angle within 7–15° and low mid-down stroke angle within -40° to -35° are necessary. The results provide a quantified guidance for design option of FRW together with the optimal kinematics of motion according to flight performance requirement.     

俯仰振荡翼型推阻力转变滞后机制数值研究

扑翼产生的反卡门涡街被认为是一种推力型尾迹,但已有研究指出,随着斯特劳哈尔数(St)增大,低雷诺数下俯仰振荡翼型的净推力产生明显滞后于反卡门涡街的出现.为探究该现象背后的物理机制,对NACA0012翼型在雷诺数1000条件下作简谐俯仰运动的流场进行了数值模拟.采用翼型表面积分方法和基于有限控制体的气动力估计方法分别研究...     

微型旋转翼与拍动翼气动力特性的比较

 用拟压缩性法求解三维非定常不可压N-S方程,研究了旋转翼及拍动翼的气动力和流场。当昆虫正常悬停时,如果翅膀旋转,产生的平均升力以及气动效率并不比拍动时的差,甚至还略好,因此,厘米级微型飞行器可以采用旋转翼,这比拍动模式容易实现。另外,小迎角旋转时升阻比可达3.1（在15°迎角,雷诺数4 000情况下）,气动效率较高而且升力系数不小,多个桨叶可以产生很大的升力。因此,在悬停时,多个桨叶小迎角旋转是厘米级微型飞行器的一个很好的方案。     

Aerodynamic Interactions Between Contralateral Wings and Between Wings and Body of a Model Insect at Hovering and Small Speed Motions

In this paper, we study the aerodynamic interactions between the contralateral wings and between the body and wings of a model insect, when the insect is hovering and has various translational and rotational motions, using the method numerically solving the Navier-Stokes equations over moving overset grids. The aerodynamic interactional effects are identified by compar-ing the results of a complete model insect, the corresponding wing pair, single wing and body without the wings. Horizontal, vertical and lateral translations and roll, pitch and yaw rotations at small speeds are considered. The results indicate that for the motions considered, both the interaction between the contralateral wings and the interaction between the body and wings are weak. The changes in the forces and moments of a wing due to the contralateral wing interaction, of the wings due to the pres-ence of the body, and of the body due to the presence of the wings are generally less than 4.5%. Results show that aerodynamic forces of wings and body can be measured or computed separately in the analysis of flight stability and control of hovering in-sects.     

共轴刚性旋翼悬停状态地面效应气动特性

为了研究地面效应下共轴刚性旋翼的气动特性,建立了一套基于非定常雷诺平均Navier-Stokes方程的气动干扰数值方法,采用运动嵌套网格模拟双旋翼的反转运动。地面采用无滑移边界条件,并对旋翼和地面附近的网格进行加密,以更好地捕捉旋翼的流场细节和尾迹特征。计算结果与Lynx尾桨试验结果进行对比,验证了所建立方法的有效性。对地面效应下共轴刚性旋翼的气动性能和流场进行分析,结果发现：相对于单独的上下旋翼而言,共轴旋翼地面效应下的拉力增益更大,这是由于上下旋翼桨叶表面的压强干扰受地面高压的影响而减弱;地面的干扰主要影响双旋翼尾迹的径向位置,对其轴向位置影响不大,上下旋翼尾迹在地面附近相互融合、分裂,形成复杂的桨尖涡尾迹;双旋翼在地效下的尾迹径向扩张半径比单旋翼大,这是由于双旋翼的径向射流速度更大;随着旋翼距地面高度的增加,双旋翼间的气动干扰强度逐渐恢复,因此下旋翼拉力增益的下降速度比上旋翼更大;共轴旋翼桨尖涡相对卷起高度和扩张半径均随离地高度增加而减小。     

微型飞行器低雷诺数矩形扑翼非定常气动特性的数值模拟

采用双时间步方法求解三维可压缩非定常N-S方程,数值模拟了微型飞行器低雷诺数矩形扑翼的非定常绕流,首先将得到的结果与文献进行了对比,数据间具有较好的一致性.然后针对不同的展弦比、减缩频率及初始攻角,计算了矩形扑翼的非定常气动特性及表面流态和动态压力分布,并分析了翼尖涡对扑翼非定常气动特性的影响.     

微型扑翼飞行器扑翼/尾翼气动干扰的数值研究

以二维刚性约束条件下的微型扑翼飞行器模型为研究对象,在动网格技术基础上,应用非定常数值分析手段对比分析了单翼/纵列翼布局的气动性能,深入研究了纵列翼缩减频率、扑翼—尾翼无量纲水平间距、来流攻角对其气动性能的影响.结果表明:①纵列翼尾翼对扑翼产生正效应干扰,相对于单翼布局,扑翼—尾翼无量纲水平间距为0.5倍翼型弦长时的纵列翼布局的推力系数和推进效率分别增加28.7%和5.7%;②缩减频率是影响推力的关键参数,随着缩减频率的增加,脱落涡的强度增加,推力系数增大.对于单翼、纵列翼两种布局模式,当缩减频率在1.0附近时推进效率达到最优;③对于纵列翼布局,在扑翼—尾翼无量纲水平间距为1.1倍翼型弦长时推进效率达到峰值;④在0°~20°来流攻角变化范围内,随着来流攻角的增加,升力系数增加,推力系数减小,当来流攻角大于9°时,两种布局的推力均为负值.      

Trailing-edge scalloping effect on flat-plate membrane wing performance

This investigation studies the effect of trailing-edge scalloping on the lift and drag force coefficients of flat, membrane wings that vibrate at low Reynolds numbers (<61,000). A series of rigid, flat plate frames with moderate aspect ratio and repeating membrane cell structure were studied and compared to a rigid plate and a rigid scalloped plate. Lift and drag measurements were acquired using an external force-balance; flow fluctuation measurements were captured with a hot-wire. Results showed that the size and aspect ratio of the latex cell had a greater impact on lift than scalloping and that scalloping had a greater effect on drag than the cell aspect ratio. Compared to the solid wings, the membrane wings exhibited higher lift and drag coefficients, likely due to both effective cambering and dynamic interaction with the free shear layer. While trailing-edge scalloping decreased both the lift and drag coefficients relative to no scalloping, the greater effect was on drag, thus, increasing aerodynamic efficiency. The maximum lift-to-drag ratio was attained for a 25% scallop with a repeating cell aspect ratio of one. A unique nondimensional scaling of the membrane vibration peak frequency is also presented.     

低雷诺数多螺旋桨/机翼耦合气动设计

以临近空间太阳能无人机研究为背景,针对高空低雷诺数状态下多螺旋桨/机翼构型进行了耦合气动设计研究。首先,通过对典型多螺旋桨/机翼构型进行气动特性及流动特性分析,提出了以在多螺旋桨滑流影响下构建机翼近壁面理想流态分布形式为核心的低雷诺数多螺旋桨/机翼耦合气动设计思想;然后,基于该耦合设计思想,依次进行了多螺旋桨布局参数设计研究、低雷诺数流态区域二维翼型设计研究以及近似高雷诺数流态区域耦合螺旋桨滑流影响的机翼翼段设计研究;最后,通过相关设计结果的对比分析验证了所提出低雷诺数多螺旋桨/机翼耦合气动设计思想及设计方法的有效性和可靠性。结果表明：与常规仅进行低雷诺数翼型优化得到的设计结果相比较,基于所提出低雷诺数多螺旋桨/机翼耦合设计思想设计得到的多螺旋桨/机翼构型气动特性得到显著改善,在设计状态下,多螺旋桨滑流影响下的机翼阻力相对降低达8.8%,升阻比相对增大达12.1%,由多螺旋桨滑流为机翼气动特性带来的不利影响亦得到约64.5%的补偿和改善。     

地面颤振模拟试验中的非定常气动力模拟

地面颤振模拟试验作为一种颤振研究的新方法,可以有效地弥补传统气动弹性试验的不足。对地面颤振模拟试验的主要难点,即非定常分布式气动力集成减缩加载的方法开展研究:基于亚声速偶极子格网法和活塞理论建立了亚声速以及超声速翼面的非定常气动力模型,通过曲面样条插值以及有理函数拟合获得了试验时域减缩气动力;提出以颤振关键模态的振型为优化目标,使用遗传算法搜寻气动力最优减缩位置的优化方法;建立了闭环系统的时域状态空间模型,使用颤振时域仿真结果与频域理论结果进行对比,对比发现二者误差可控制在3%以内。研究结果表明,该文提出的非定常气动力模拟方法可以很好地表征翼面非定常气动力分布特性,可以作为地面颤振模拟试验研究可靠的理论基础。     

地效飞机的发展和展望

地效飞机是一种主要利用地面效应提供支承力而飞行的运载工具，在地铲的作用耳，它的升阻比比一般的飞机大，因而飞行时所消耗的推进功率小，具有更大的载重量或航程，在地效作用区域内，地效飞机的气动力不仅与迎角有关，而且与飞行高度有关，因而其飞行稳定性问题更为复杂，作为一类非线性、多变量且很难辨识的受控对象，地效飞机应采用更加复杂的控制律和信息－－控制综合系统，以最大限度地保证低高度的飞行安全和操控效率。首先介绍了地效飞机的一般特点和发展现状，然后分析和描述了该类飞行器特有的稳定性问题以及控制特点，最后展望了它的应用前景。     

基于扇翼机翼升推力机理的吹气机翼研究

基于对扇翼飞行器升推力产生机理的数值计算与分析,提出了一种扇翼飞行器机翼的替代方案——吹气机翼。分析了扇翼机翼升推力的产生机理并在扇翼机翼翼型的基础上构建了吹气机翼翼型。建立了两种机翼翼型的数值计算方法,通过对比相对静压分布曲线、速度云图和压力云图,证明了吹气机翼具有与扇翼机翼一样的升推力产生方式,即涡致升推力的形成机制。通过将横流风扇加速后气流流速定义为吹气机翼吹气速度,对比了两种机翼升推力随来流速度和迎角的变化关系。结果表明:两种机翼的升推力变化趋势基本一致,仅在迎角大于20°时,吹气机翼推力值相较扇翼机翼损失了近5倍。总体而言,在常规飞行状态下,吹气机翼能够替代扇翼机翼,为相关飞行器的增升和优化设计提供了一种思路。      

地面效应下前/后掠翼气动特性研究

针对飞行器在地效区飞行时复杂的流场特性,通过求解定常可压N-S方程,改变机翼后掠角和地效区飞行高度,研究不同前/后掠角机翼在地效区内的气动特性。结果表明:在地效区内,随着后掠角的增大,机翼的升力系数和阻力系数呈现先增后减的变化规律,后掠角在0°附近时升力系数达到最大值,阻力系数在10°附近达到最大值;俯仰力矩系数随着后掠角增加而减小;展向流动在后掠角为0°时最小,展向流动随着后掠角增大或减小剧烈变化;机翼下洗角随着后掠角增大而减小,随着离地高度的减小而减小。研究结果可为地效飞行器的概念方案设计和优化提供理论依据。     

螺旋桨滑流与机翼气动干扰的非定常数值模拟

基于动态面搭接网格,求解非定常雷诺平均Navier-Stokes方程模拟螺旋桨滑流与机翼的干扰流动.分别对3种构型,即:单独螺旋桨十短舱构型、螺旋桨十短舱十机翼构型以及短舱十机翼构型进行流场数值模拟,对比分析了机翼对螺旋桨滑流流动结构的干扰,在滑流作用下机翼气动特性的改变以及机翼对螺旋桨桨叶气动力的影响.模拟结果表明:...     

地效飞行器水面起飞滑跑距离估算方法

地效飞行器、水上飞机在水面起飞时,由于受到发动机推力、水动力和空气动力的作用,其运动规律非常复杂。加上阵风、水面状态以及驾驶员的操纵技术等一系列因素,使情况更加复杂化了。本文在基本运动方程中引入了机身浸湿面积与滑行速度成负斜率线性关系的假设,从而简化了起飞距离的计算过程,得到发动机推力与起飞滑行距离之间的关系曲线。本文...     

前/后掠机翼气动特性对比分析

基于NACA0012对称翼型设计了前掠机翼、后掠机翼和平直机翼,采用CFD方法计算了3种机翼的升力系数、阻力系数和俯仰力矩系数,通过压力云图和流线图分析了3种机翼的气动特性及流动机理。研究结果表明:前掠机翼上表面的流动是由翼尖流向翼根,翼根首先出现分离,而后掠机翼上表面的流动是由翼根流向翼尖,翼尖首先出现分离,平直机翼由于受翼尖涡的下洗影响,翼根首先出现分离;在30°斜掠角下,前掠机翼形成了机翼前缘涡,表现出旋涡流态气动特性。研究结果揭示了不同机翼之间的流动差异,有助于在飞行器设计过程中选择合适的气动布局。     

共轴反桨涵道式推进单元地面效应气动性能

为了研究共轴反桨涵道式推进单元近地面悬停时的气动特性,通过气动性能测试分别研究了转速、桨盘间距和离地距离对推进单元的气动影响。同时,通过CFD数值仿真分析了其速度场和压力场分布,分析了共轴反桨涵道式推进单元地面效应的流场特性。结果表明,当涵道扩散口到地面的距离小于两倍桨盘半径时,地面效应开始起作用;当离地距离小于一倍桨盘半径时,地效非常显著,品质因子(FM)最高提升了约30%。随着离地距离的减小,涵道拉力随之降低,这是由于入流速度的降低导致涵道唇口处的压力峰值下降。桨盘间距对地面效应影响不大。涵道以及螺旋桨的拉力、反扭矩与螺旋桨转速的平方近似成正比。      

翼身融合背撑发动机反推绕流流场数值研究

基于RANS（Reynolds averaged Navier-Stokes）方法,采用SST（shear stress transport）湍流模型和进排气边界条件,对翼身融合背撑发动机反推绕流流场进行了数值模拟,探究得到反推气流动力影响下机体气动载荷的变化规律,并评估了不同发动机功率下反推的增阻效果,以及对进气道流场畸变特性进行了初步的分析。结果表明:反推气流会显著影响机体气动载荷的分布状况,发动机前方的机体表面压力逐渐增大,经过反推出流带后,表面压力急剧减小,沿展向其影响逐渐减弱;在一定范围内,反推气流的轴向折流角越大,对气动载荷分布的影响越剧烈,增阻效果也越好;轴向折流角和来流马赫数的变化会影响进气道流场畸变特性。      

超临界层流机翼边界层及气动特性分析

高空长航时无人机设计巡航状态的雷诺数较小,黏性边界层对气动特性的影响较大。详细分析了雷诺数对机翼边界层和气动力的影响,用数值方法对超临界层流机翼三维层流-转捩-湍流混合边界层特性进行了研究,分析比较了高空小雷诺数和中空大雷诺数情况下机翼三维边界层的特性,尤其是边界层转捩点位置、表面摩阻和气动特性的雷诺数效应。研究表明雷诺数对于高空无人机机翼边界层厚度、摩擦阻力和升阻比影响较大;对层流机翼的转捩点位置和升力系数影响较小;自然层流机翼技术可以应用于高空无人机设计。     

A review of bird-like flapping wing with high aspect ratio

Bird-like flapping-wing vehicles with a high aspect ratio have the potential to fulfill missions given to micro air vehicles, such as high-altitude reconnaissance, surveillance, rescue, and bird group guidance, due to their good loading and long endurance capacities. Biologists and aeronautical researchers have explored the mystery of avian flight and made efforts to reproduce flapping flight in bioinspired aircraft for decades. However, the cognitive depth from theory to practice is still very limited. The mechanism of generating sufficient lift and thrust during avian flight is still not fully understood. Moving wings with unique biological structures such as feathers make modeling, simulation, experimentation, and analysis much more difficult. This paper reviews the research progress on bird-like flapping wings from flight mechanisms to modeling. Commonly used numerical computing methods are briefly compared. The aeroelastic problems are also highlighted. The results of the investigation show that a leading-edge vortex can be found during avian flight. Its induction and maintenance may have a close relationship with wing configuration, kinematics and deformation. The present models of flapping wings are mainly two-dimensional airfoils or three-dimensional single root-jointed geometric plates, which still exhibit large differences from real bird wings. Aeroelasticity is encouraged to consider the nonignorable effect on aerodynamic performance due to large-scale nonlinear deformation. Introducing appropriate flexibility can improve the peak values and efficiencies of lift and thrust, but the detailed conclusions always have strong background dependence.