扑旋柔性翼飞行器驱动机构的设计及动力学建模

Drive Mechanism of Flapping-Wing Micro Rotorcraft:Design and Dynamics Modeling

为解决传统旋翼飞行器在结构上需要尾梁、尾桨等来平衡扭矩装置所带来的飞行器结构复杂,升力与自身重量之比低,飞行性能不突出等问题,提出了一种扑旋翼结构设计方法,以及利用此方法设计的微小型扑旋翼飞行器.采用电磁铁吸合驱动装置,通过电流方向控制电路实现电流规律正反向变化,从而产生交变电磁力驱动扑翼扑动.同时分析这种扑翼结构的特性,建立扑旋翼机构的结构模型,并应用拉格朗日方程分析建立扑旋翼驱动装置的动力学模型.仿真实验结果表明,采用某一频率的交变电磁力时机翼会产生共振现象,在同等作用力下机翼的扑动角会有一定的增大.

In this paper, a structural design method of flapping and rotor wing is proposed in order to solve the problems of complex structure, low lift in proportion to its own weight and low flight performance caused by additional devices used for balancing torque, such as tail beams and tail rotors, which are required in traditional rotorcrafts. The flapping-wing micro-miniature rotorcraft was designed by using the proposed method. Drive mechanisms of electromagnet were adopted to change current direction in electromagnet coils regularly, so as to generate alternating electromagnetic force to drive flapping wings flutter. Meanwhile, the property of this kind of flapping-wing structure was analyzed and its structural model was built. The dynamics model of the drive mechanism were also built and analyzed on the basis of Lagrange＇s equations. The simulation results indicate that the resonance phenomenon of wings would occur if the alternating electromagnetic force works with a certain frequency, and hence the flutter angle would increase under the same acting force.