基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

针对现有扑翼飞行机器人存在的飞行形态与实际鸟类相差较大,以及翅膀、尾翼布局和俯仰、转向控制方式仿生度较低的问题,提出一种形态布局与鸽子相仿的扑翼飞行机器人系统设计及实现方案.通过设计弧面-折翼-后掠翅膀、仿鸟扇形尾翼以及尾翼挨近翅膀后缘布置的布局方式,使扑翼机器人飞行形态更加接近真实鸟类,提高扑翼机器人的形态仿生度.在此基础上,设计结合下扑角调控无需尾翼大角度上翘的俯仰控制方式,以及不依赖于尾翼的翅膀收缩转向控制方式,在提高仿生度的同时保证飞行控制的有效性.在具体设计过程中,首先参考鸽子翅膀型式选择不同类型翅膀并进行风洞测试,确定出下扑角变化时仍能保持较优升推力性能的翅膀设计方案;其次,对各种尾翼型式进行分析和比较,结合鸽子尾翼特点进行仿鸽尾翼及俯仰、转向控制机构设计,并通过风洞测试验证;最后,设计飞控系统并装配整机,进行外场飞行测试,验证仿鸽扑翼飞行机器人平台的稳定性和可控性.

EXPERIMENTAL STUDY OF TURBULENT WINGBODY JUNCTION AND WAKE FLOW

The experiments on wing-body junction and wake flow were carried cul in alow-turbulence level wind tunnel. Intensive measurements of various flow parameters,such as the distributions of the pressure on the surfaces of the airfoil and the plate wall,the mean and the fluctuating velocities, as well as the turbulent kinetic energy, u'v' andu'w'etc., were performed. The results indicate that the secondary flow entrains the highvelocity low-turbulence fluid into the boundary layer and the wake vortex dominates thewake flow. Some regions of negative eddy viscosity are also found in the wake flow.

SEPARATION CONTROL FOR THE OUTWING OF A STRAKE－WING BY ROTATING CONE PLACED NEAR THE LEADING EDGE

Based on the research result on the strake-wing, when the size of a strakeis not large, there is a separation zone near the leading edge of the outwing of thestrake-wing at middle angles of attack. So the idea on separation control by rotating acone placed near the leading edge is presented. The cone surface consists of the part ofthe wing. The effect of rotating the cone on aerodynamic characteristics of thestrake-wing is investigated. The results show that a rotating surface could play an important role in controlling the flow separation for a 3-dimensional wing. For example,the relative increment in maximum lift coefficient attains 30%. The separation zone issuppressed to a certain extent.

EXPERIMENTAL RESEARCH OF THE CONFIGURATION OF WING－TIP DRAG REDUCTION FOR LIGHT AIRCRAFT

hree kinds of devices of drag reduction are presented swept wingtip,stage by stage swept wingtip and downbend wingtip. The effects of changing geometryparameters of the swept wingtip on the drag reducing are also presented. Wind-tunnelexperiment results indicate that a properly designed swept wingtip results in an incre-ment in induced efficiency of 4%～ 7% and that swept wingtip can increase longitudinalstatic-stability. Water-tunnel experiment results indicate that the reason for drag re-ducing of swept wingtip is that when the angle of attack is not zero, the strong end vor-tex of the wing is weakened by the combined effect of the leading edge and trailing edgevortices of the swept wingtip.

Structural Design and Control of Variable Camber Wing Driven by Ultrasonic Motors

A novel variable camber wing driven by ultrasonic motors is proposed.Key techniques of distributed layout of drive mechanisms,coordination control of distributed ultrasonic motors as well as novel flexible skin undergoing one-dimensional morphing are studied.The system integration of small variable camber wing is achieved.Distributed layout of parallelogram linkages driven by geared ultrasonic motors is adopted for morphing,aimed at reducing the load for each motor and producing various aerodynamic configurations suitable for different flying states.Programmable system-on-chip(PSoC)is used to realize the coordination control of the distributed ultrasonic motors.All the morphing driving systems are assembled in the interior of the wing.The wing surface is covered with a novel smooth flexible skin in order to maintain wing shape and decrease the aerodynamic drag during morphing.Wind tunnel test shows that the variable camber wing can realize morphing under low speed flight condition.Lift and drag characteristics and aerodynamic efficiency of the wing are improved.Appropriate configurations can be selected to satisfy aerodynamic requirements of different flight conditions.The study provides a practical application of piezoelectric precision driving technology in flow control.

基于微秒脉冲激励的飞翼模型等离子体流动控制试验研究

为了改善飞翼布局的大迎角气动特性,采用飞翼全模和半模分别在低速和跨声速风洞中开展了微秒脉冲介质阻挡放电等离子体流动控制的试验研究。通过流动显示和测力的试验方法研究了等离子体流动控制的主要作用机制和激励频率与激励电压等对飞翼模型失速特性的影响规律,验证了微秒脉冲介质阻挡放电等离子体流动控制技术从低速到亚声速的有效性,有效的试验最高马赫数Ma达到0.6、雷诺数Re达到3.05×10^(6)。试验研究表明:微秒脉冲介质阻挡放电等离子体通过非定常微尺度压缩波扰动的形式作用于翼面流场,通过频率耦合机制减弱模型的前缘分离涡、抑制翼面的流动分离;无量纲频率F^(+)是影响等离子体流动控制效果的重要参数;在低速风洞试验风速V=30 m/s时,无量纲频率F^(+)=0.35~1.06的控制效果较好,可将模型的最大升力系数提高25%以上、失速迎角推迟4°;在跨声速风洞试验马赫数Ma=0.6时,无量纲频率F^(+)=0.22和F^(+)=0.44的控制效果较好,可将模型的最大升力系数分别提高4.72%、4.77%,失速迎角分别推迟2°、1°;激励电压越高激励强度越大、等离子体流动控制效果越好。

机翼颤振模型试验在课程教学中的应用与实践

机翼颤振模型是一种观测气动弹性颤振现象的实验装置。利用风洞、振动采集系统等仪器设备,在人为控制风速、振动扰动等条件下,引起模型的气动弹性动力失稳,进入自激振动(颤振)状态。通过观察、测定和分析响应信号,帮助学生理解颤振发生的力学机制,获得气动弹性的相关知识,并发展防颤振设计的能力。本文基于气动弹性力学设计、结构弯扭刚度解耦技术、3D打印等创新手段,开展颤振风洞试验模型的自主设计与研发,应用该模型开展气动弹性教学,获得了实践教学数据。目前机翼颤振教学实验与飞行器结构力学、气动弹性概论等课程一起,共同组成了飞行器设计与工程(飞设)专业核心课程体系,是工科飞设专业的重要教学实践环节。

基于系统辨识的自适应变形机翼控制系统设计

针对固定翼飞行器无法在复杂多变飞行环境中始终处于最优气动构型的缺陷,提出能够根据飞行环境参数自适应变形的机翼设计理念。设计了一款通过刚性翼盒偏转实现变形功能的机翼,通过面元法耦合XFOIL黏性修正器进行气动模型仿真计算,对该机翼的气动特性进行分析;并在此基础上设计变形机翼舵机风洞试验平台,搭建测试采集系统,对航模舵机驱动变形的气动伺服系统进行低速风洞试验,通过子空间辨识法获得了气动伺服系统的数学模型,并通过比例积分微分(PID)控制结合Smith预估控制算法的方式进行舵机补偿控制。最后根据得到的变形机翼气动数据和舵机频响特性,以优化气动性能为目标设计了一款基于舵机补偿的自适应变形机翼反馈控制系统,可以实现在复杂环境中的舵机补偿和自适应变形,对后续变形机翼的设计提供了参考。

Herbst机动中的摇滚运动试验研究

为了研究新型战斗机布局在Herbst机动中的非指令摇滚运动问题,研制了模拟Herbst机动运动的风洞试验装置,发展了运动/流动同步测量技术;借助试验装置,研究了尖侧缘机身布局在Herbst机动中的摇滚运动形态,找到了摇滚运动产生的主要阶段,分析了运动参数对摇滚运动的影响规律。结果表明:Herbst机动中的摇滚运动主要来自于俯仰拉起阶段,圆锥运动阶段对摇滚运动基本没有影响;在俯仰拉起阶段,摇滚运动随拉起速度可分为准静态区、过渡区和类正弦区;在快速拉起的类正弦区,当拉起减缩频率为0.01时,拉起中的摇滚运动曲线在俯仰角50°之前基本重合,在俯仰角50°之后较为分散,在一定的俯仰角范围内,拉起减缩频率可作为尖侧缘机身布局拉起摇滚运动的无量纲参数。

小型多桨倾转机翼飞行器倾转过渡特性风洞试验研究

多桨倾转机翼飞行器飞行模式多且操控复杂,尤其是倾转过渡模式,气动干扰复杂,操纵冗余,从理论上确定气动与操纵特性难度大。为了研究多桨倾转机翼飞行器倾转过渡模式的气动与操纵特性,对某小型多桨倾转机翼无人机单独机翼及整机开展了倾转过渡模式不同机翼倾角、不同舵面角度、不同油门等状态下的吹风测力试验。根据试验数据分析了整机倾转过渡模式的操纵特性及控制原则,为多桨倾转机翼构型飞行器总体设计及倾转过渡模式操纵策略研究提供了参考。

Optimization and design of an aircraft's morphing wing-tip demonstrator for drag reduction at low speeds, Part II- Experimental validation using Infra-Red transition measurement from Wind Tunnel tests

In the present paper, an ‘in-house＇ genetic algorithm was numerically and experimentally validated. The genetic algorithm was applied to an optimization problem for improving the aerodynamic performances of an aircraft wing tip through upper surface morphing. The optimization was performed for 16 flight cases expressed in terms of various combinations of speeds, angles of attack and aileron deflections. The displacements resulted from the optimization were used during the wind tunnel tests of the wing tip demonstrator for the actuators control to change the upper surface shape of the wing. The results of the optimization of the flow behavior for the airfoil morphing upper-surface problem were validated with wind tunnel experimental transition results obtained with infra-red Thermography on the wing-tip demonstrator. The validation proved that the 2D numerical optimization using the ‘in-house＇ genetic algorithm was an appropriate tool in improving various aspects of a wing＇s aerodynamic performances.

Proportional fuzzy feed-forward architecture control validation by wind tunnel tests of a morphing wing

In aircraft wing design,engineers aim to provide the best possible aerodynamic performance under cruise flight conditions in terms of lift-to-drag ratio.Conventional control surfaces such as flaps,ailerons,variable wing sweep and spoilers are used to trim the aircraft for other flight conditions.The appearance of the morphing wing concept launched a new challenge in the area of overall wing and aircraft performance improvement during different flight segments by locally altering the flow over the aircraft＇s wings.This paper describes the development and application of a control system for an actuation mechanism integrated in a new morphing wing structure.The controlled actuation system includes four similar miniature electromechanical actuators disposed in two parallel actuation lines.The experimental model of the morphing wing is based on a full-scale portion of an aircraft wing,which is equipped with an aileron.The upper surface of the wing is a flexible one,being closed to the wing tip;the flexible skin is made of light composite materials.The four actuators are controlled in unison to change the flexible upper surface to improve the flow quality on the upper surface by delaying or advancing the transition point from laminar to turbulent regime.The actuators transform the torque into vertical forces.Their bases are fixed on the wing ribs and their top link arms are attached to supporting plates fixed onto the flexible skin with screws.The actuators push or pull the flexible skin using the necessary torque until the desired vertical displacement of each actuator is achieved.The four vertical displacements of the actuators,correlated with the new shape of the wing,are provided by a database obtained through a preliminary aerodynamic optimization for specific flight conditions.The control system is designed to control the positions of the actuators in real time in order to obtain and to maintain the desired shape of the wing for a specified flight condition.The feasibility and effectiveness of the developed control system by use of a proportional fuzzy feed-forward methodology are demonstrated experimentally through bench and wind tunnel tests of the morphing wing model.

基于飞行实测的大型飞机机翼载荷静气弹修正

大型飞机结构弹性会显著的影响到机体的载荷大小及分布,准确计算结构弹性引起的载荷变化对提高飞机设计水平具有重要意义。首先给出了一种机翼气动载荷静气弹理论修正方法,该方法应用工程梁理论计算机翼变形,应用涡格法计算变形引起的气动力增量,然后进行迭代直至收敛,用升力面理论对NACA-TN3030报告中的升力线理论进行了改进提高。通过风洞试验证明了该理论方法的准确性。在飞行试验中测量得到了机翼变形和飞行参数两方面的数据,分别以这两方面的数据为输入各自进行弹性修正计算,两种途径得到的结果相互验证,修正结果吻合较好,经过载荷修正后翼根弯矩降低了大约3%,该方法易于在工程中推广使用,对于减轻机翼结构重量有显著意义。

Gust load alleviation wind tunnel tests of a large-aspect-ratio flexible wing with piezoelectric control

An active control technique utilizing piezoelectric actuators to alleviate gust-response loads of a large-aspect-ratio flexible wing is investigated. Piezoelectric materials have been extensively used for active vibration control of engineering structures. In this paper, piezoelectric materials further attempt to suppress the vibration of the aeroelastic wing caused by gust. The motion equation of the flexible wing with piezoelectric patches is obtained by Hamilton＇s principle with the modal approach, and then numerical gust responses are analyzed, based on which a gust load alleviation（GLA） control system is proposed. The gust load alleviation system employs classic propor tional-integral-derivative（PID） controllers which treat piezoelectric patches as control actuators and acceleration as the feedback signal. By a numerical method, the control mechanism that piezoelectric actuators can be used to alleviate gust-response loads is also analyzed qualitatively. Furthermore, through low-speed wind tunnel tests, the effectiveness of the gust load alleviation active control technology is validated. The test results agree well with the numerical results. Test results show that at a certain frequency range, the control scheme can effectively alleviate the z and x wingtip accelerations and the root bending moment of the wing to a certain extent. The control system gives satisfying gust load alleviation efficacy with the reduction rate being generally over 20%.

连接翼布局气动特性研究

在一个小型低速风洞中进行了五种不同布局形式的连接翼方案实验研究。利用油流法研究了三种连接翼的流谱,初步分析了具有连接翼飞机的气流流动机理。为比较,同时对三角翼常规布局方案进行了实验,所有方案使用相类似的隐身布局机身。实验结果表明,连接翼布局有其特有的流型:翼面分前翼、后翼及外翼三部分,其流型受前翼涡、后翼涡、翼端涡、机身边条涡以及它们互相缠绕形成的新涡的控制。这些涡的产生、发展、离体和破裂的情况不同,形成不同方案气动特性的差别。连接翼布局气动特性优于常规翼布局,特别是最大升阻比可达12以上,失速迎角超过30°。通过前后翼后缘操纵面的有利组合,可以达到提高升阻比,满足纵、横向稳定性和操纵性要求的目的。结果显示,具有扁平机身的连接翼方案是一个有潜力的无人机布局形式。

飞机偏航-滚转耦合运动非定常空气动力实验

在3m低速风洞中设计制造了一套动态实验系统,不仅能模拟飞机单自由度机动飞行运动,还能实现模型绕体轴的偏航-滚转耦合运动。通过选择运动参数,可实现绕两个轴运动角速度之间的匹配,满足飞机典型机动飞行所需的绕速度轴的无侧滑偏航-滚转运动。试验测量了BJ-1飞机模型在不同迎角下单独滚转、单独偏航和偏航-滚转耦合运动时的非定常气动特性。结果表明,飞机机动飞行时多自由度运动的气动特性比单自由度运动气动特性复杂,耦合运动时的气动特性与两个单自由度运动的气动特性的叠加结果相比有很大差别。

大型飞机高速气动力关键问题解决的技术手段及途径

大型飞机采用超临界机翼,并具有尺度大、飞行雷诺数高等特点,其研制中必须解决好高升阻比机翼、翼身组合体设计,推进系统/机体一体化设计,抖振特性、静气动弹性特性预测及超临界机翼流动控制等高速气动力问题。要解决这些关键气动力问题,必须进行一系列相关的大型高速风洞试验,以及解决相应的试验技术问题。

柔性翼微型飞行器气动特性的实验研究

柔性翼有望提高微型飞行器(MAV)的抗风能力。为进一步了解柔性翼的气动性能,建立MAV数学模型,并为飞行仿真和飞行控制设计做准备,在低雷诺数风洞中对柔性翼微型飞行器进行了风洞试验,同时采用翼型、机翼平面形状和尺寸大小均相同的刚性翼进行了风洞对比试验。对比结果表明:柔性翼相比于对应的刚性翼,失速迎角较大;柔性翼的最大升力系数较大,但是柔性翼的变形在提高升力的同时也增大了阻力,升阻比的情况较为复杂;在较低雷诺数情况下,柔性翼的纵向静稳定性略优于刚性翼;柔性翼的长周期和短周期模态的衰减特性和阻尼特性略优于刚性翼。

飞翼布局低速支撑干扰及局部外形畸变影响数值模拟

飞翼布局具有气动效率高、隐身性能好的优点,是未来军民用飞机的重要发展方向。该类布局模型风洞试验尾撑、腹撑及背撑等支撑形式的干扰量及由此带来的模型局部外形畸变影响较为复杂,目前还没有通用的支撑方案和试验修正方法。采用CFD数值模拟方法,分别对某小展弦比飞翼布局标模低速尾撑支杆干扰和尾部外形畸变影响进行了研究,结果表明:在常用角度范围内,所使用的数值模拟方法是可靠的,可用于风洞试验支撑方案的评估及支撑干扰的修正;对纵向特性,尾撑支杆干扰量和尾部外形畸变影响量相对全量较小;对横航向特性,尾撑支杆干扰量基本可忽略,尾部外形畸变影响量与全量相当。