一种扑翼微型飞行器驱动机构速度波动研究

Study of velocity fluctuation in a flapping-wing micro air vehicle driving mechanism

扑翼驱动系统运转时,由于惯性和气动阻力矩的变化将引起系统速度的周期性波动,从而影响驱动效率和气动性能,因此速度波动的分析是研究扑翼微型飞行器动力学中的一个重要研究方向.基于拉格朗日方程,对一种常用的扑翼机构,建立了动力学方程,并求解其真实运动规律,进而为扑翼微型飞行器研究提供理论基础.

In the motion of a flapping-wing mechanism, the motion of the input link causes speed fluctuation due to variety of the inertia and aerodynamic moment. This fluctuation affects the mechanical efficiency and aerodynamic performance. Based on Lagrange＇ s equation, the dynamic equation of a common flapping-wing mechanism was established and the actual motion was studied. This provides theory base for the study of flapping-wing micro air vehicle.