扑翼节律运动的产生与控制

Generation and Control of Flapping-wing Rhythmic Movement

根据昆虫扑翼飞行节律运动的原理,设计一个压电驱动的两自由度扑翼机构。在建立扑翼物理模型的基础上,研究了其模态特征,并结合主动控制构建了一个范德波尔(van derPol)类型的自激振动扑翼系统,使扑翼产生稳定的极限环运动。通过研究系统的响应,分析了控制力中各参数变化对系统特性的影响。在此基础上,利用交叉反馈选择出系统的第一阶模态振动,并调节各参数使扑翼飞行器实现不同的飞行模式。

A 2--DOF piezo--actuated flapping mechanism was designed according to the theory of flapping--wing flying rhythmic movement of insects. Based on the physical model of flapping--wing, the modal shapes were studied. A van der Pol type self--excited vibratory system was constructed by active control, and the flapping--wing could generate stable limit--circle movement. Through the research on system responses, the influences of the parameters in the control force on the system characteristics were analyzed. Then the first modal vibration of the system was selected by cross feedback, and the flapping--wing micro air vehicle realized different flying modes by adjusting system parameters.