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.

Design and test of pneumatic artificial muscle driven variable trailing-edge camber wing

A variable camber wing driven by pneumatic artificial muscles is developed in this paper. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed and the relationship between the static output force and the air pressure is investigated. Experimental results show that the static output force of pneumatic artificial muscle decreases nonlinearly with the increase of contraction ratio. Secondly, the model of variable camber wing driven by pneumatic artificial muscles is manufactured to validate the variable camber concept. Finally, wind tunnel tests are conducted in the low speed wind tunnel. It is found that the wing camber increases with the increase of air pressure. When the air pressure of PAMs is 0.4 MPa and 0.5 MPa, the tip displacement of the trailing-edge is 3 mm and 5 mm, respectively. The lift of aerofoil with flexible trailing-edge increases by 87% at AOA of 5°.

Adaptive Sliding Mode BTT Autopilot for Cruise Missiles with Variable-Swept Wings

In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were considered as state variables of the autopilot,and a parametric sliding mode controller was designed via feedback linearization. A novel parametric adaptation law was put forward to estimate the nonlinear timevarying parameter perturbations in real time based on Lyapunov stability theory. A sliding mode boundary layer theory was adopted to smooth the discontinuity of control variables and eliminate the control chattering. The simulation was presented for the roll angle and overload commands tracking in different configuration schemes. The results indicated that the controlled system has robust dynamic tracking performance in condition of the large-scale aerodynamic parametric variety resulted from variable-swept wings.

A Bio-Inspired Flapping-Wing Robot With Cambered Wings and Its Application in Autonomous Airdrop

Flapping-wing flight, as the distinctive flight method retained by natural flying creatures, contains profound aerodynamic principles and brings great inspirations and encouragements to drone developers. Though some ingenious flapping-wing robots have been designed during the past two decades, development and application of autonomous flapping-wing robots are less successful and still require further research. Here, we report the development of a servo-driven bird-like flapping-wing robot named USTBird-I and its application in autonomous airdrop.Inspired by birds, a camber structure and a dihedral angle adjustment mechanism are introduced into the airfoil design and motion control of the wings, respectively. Computational fluid dynamics simulations and actual flight tests show that this bionic design can significantly improve the gliding performance of the robot, which is beneficial to the execution of the airdrop mission.Finally, a vision-based airdrop experiment has been successfully implemented on USTBird-I, which is the first demonstration of a bird-like flapping-wing robot conducting an outdoor airdrop mission.

Measurement on Camber Deformation of Wings of Free-flying Dragonflies and Beating-flying Dragonflies

The knowledge of wing orientation and deformation during flapping flight is necessary for a complete aerodynamic analysis, but to date those kinematic features have not been simultaneously quantified for free-flying insects. A projected comb-fringe (PCF) method has been developed for measuring spanwise camber changes on free-flying dragonflies and on beating-flying dragonflies through the course of a wingbeat, which bases on projecting a fringe pattern over the whole measurement area and then measuring the wing deformation from the distorted fringe pattern. Experimental results demonstrate substantial camber changes both along the wingspan and through the course of a wingbeat. The ratio of camber deformation to chord length for hind wing is up to 0.11 at 75% spanwise with a flapping angle of -0.66 degree for a free-flying dragonfly.

Design and validation of a variable camber wing structure

Variable camber wing technology is one of the important development trends of green aviation at present.Through smooth,seamless,continuous and adaptive change of wing camber,the aerodynamic performance is improved in achieving increase in lift and reduction in resistance and noise.Based on the aerodynamic validation model CAE-AVM,Chinese Aeronautical Establishment(CAE)has carried out the design and validation of a variable camber wing,proposed an aerodynamic deformation matrix for the leading and trailing edges of aircraft wings in takeoff,landing and cruise conditions.Various structures and driving schemes are compared,and several key technology problems of leading and trailing edge deformation are solved.A full-size leading edge wind tunnel test piece with a span of 2.7 m and a trailing edge ground function test piece are developed.The deformation and shape maintenance capabilities of the leading edge is verified under real wind load conditions,and the load bearing and deformation capabilities of the trailing edge is verified under simulated follow-on load.The results indicate that the leading and trailing edges of the variable camber wing can achieve the required deformation angle and have a certain load-bearing capacity.Our study can provide some insights into the application of variable camber wing technology for civil aircraft.

Aerodynamic Characteristics,Power Requirements and Camber Effects of the Pitching-Down Flapping Hovering

The pitching-down flapping is a new type of bionic flapping,which was invented by the author based on previous studies on the aerodynamic mechanisms of fruit fly(pitching-up)flapping.The motivation of this invention is to improve the aerodynamic characteristics of flapping Micro Air Vehicles(MAVs).In this paper the pitching-down flapping is briefly introduced.The major works include:(1)Computing the power requirements of pitching-down flapping in three modes(advanced,symmetrical, delayed),which were compared with those of pitching-up flapping;(2)Investigating the effects of translational acceleration time,Δτ_t,and rotational time,Δτ_r,at the end of a stroke,and the angle of attack,α,in the middle of a stroke on the aerodynamic characteristics in symmetrical mode;(3)Investigating the effect of camber on pitching-down flapping.From the above works, conclusions can be drawn that:(1)Compared with the pitching-up flapping,the pitching-down flapping can greatly reduce the time-averaged power requirements;(2)The increase in Δτt and the decrease in Δτ_r can increase both the lift and drag coefficients, but the time-averaged ratio of lift to drag changes a little.And α has significant effect on the aerodynamic characteristics of the pitching-down flapping;(3)The positive camber can effectively increase the lift coefficient and the ratio of lift to drag.

串联驱动变弯度机翼设计与气动性能分析

针对飞行性能要求,采用NACA4412翼型设计了一种串联驱动变弯度机翼方案。将机翼沿弦向分为5个翼段,前缘部分为主承力结构固定段,后缘4段翼面由4个舵机实现串联驱动。偏转翼段内部采用空间五面体桁架结构,表面敷设复合材料弹性蒙皮。翼段间采用连杆止动以限制相对转角。建立了机翼的运动学分析模型,计算了变弯度机翼的作动速度。建立了机翼的气动分析模型,对4个典型飞行工况的气动性能进行了分析,并与传统舵面机翼性能进行对比。研究表明,在相同飞行工况下,弦向四级串联驱动变弯度机翼的作动时长仅为传统机翼的25%。起飞阶段升阻比增大71.94%,滚转机动时力矩增大12.46%,进近阶段升力增大11.19%,接地后减速阶段阻力增大104.83%。串联驱动变弯度机翼相对传统舵面机翼具有更优的操纵特性和气动性能。

展向连续变弯度机翼设计与承载运动误差分析

提出一种展向连续变弯度机翼设计方法,当电推杆直线运动12 mm时,机翼最大变形角度为45°。变弯度机翼的运动仿真结果证明机构的变形过程具有良好的平稳性与可控性。基于Workbench中的Static structure与Fluent模块,分析变弯度机翼的承载运动误差。结果表明:蒙皮变形载荷使机构运动产生反向的运动误差,电推杆线性位移为8.77 mm时,最大运动误差为6.67%,蒙皮厚度与运动误差呈正相关;气动载荷使机构产生正向运动误差,机构在气动载荷与蒙皮变形载荷共同作用下,最大角度误差不超过7%,表明展向连续变弯度机翼机构在给定工况下具有良好的变形承载能力。

多参数变弯度翼型气动优化设计方法

为了获得机翼最优的气动外形,提出了一种多偏转参数与非均匀B样条结合的翼型前后缘连续偏转变形方法。以NACA3412翼型为研究实例,对翼型曲线进行参数化重构。以翼型前、后缘偏转位置和偏转角度为变化参数,模拟分析了不同变形状态对翼型气动特性的影响规律。以翼型升力系数和升阻比为优化目标,以前、后缘的偏转角度、偏转位置以及过渡段长度等六个偏转参数为设计变量,采用多目标遗传算法和ANSYS软件进行优化设计。结果表明,与基础翼型相比,优化后的变弯度翼型的升阻比提升约19.26%,升力提升约44.43%,明显改善了翼型的气动性能。

变体飞行器结构关键技术及研究进展

变体飞行器由于可以根据飞行任务、飞行环境以及飞行状态等工况的改变主动地调整自身状态,从而可以实现在不同任务下都保持最佳性能。柔韧性和承载性良好的一体化柔韧蒙皮、大功率驱动器、轻量化高可靠性变形机构等智能柔性变形机翼技术是变体飞行器的重要支撑。为研究智能柔性变形机翼技术,在给出变体飞行器机翼主要变形方式的基础上,分析了变形机翼在变形蒙皮、驱动技术、变形机构等方面关键技术的研究重点和方法,并对其发展进行展望。

可变弯度翼身融合布局气动特性分析与设计

变弯度机翼在提高常规布局客机气动特性方面有较大的潜力,但也会引起全机俯仰力矩变化,考虑翼身融合布局飞行器力臂短、配平阻力较大的特点,研究变弯度技术在翼身融合布局飞行器上的减阻收益与配平惩罚。从工程实际出发,采用基于舵面偏转的方式实现后缘变弯度并对比分析不同展向位置处舵面的配平能力;然后利用全局优化方法开展变弯度气动减阻优化设计;最后对变弯度设计空间进行探索。结果表明:随着升力系数的改变,产生配平阻力最小的舵面位置也会发生变化。当不考虑俯仰力矩配平约束时,采用变弯度技术至多可以获得4.62%的减阻收益;在考虑俯仰力矩配平约束后,相比于采用中央体后缘舵面配平,采用变弯度技术至少能够减小2.4×10^(-4)的配平损失。不同升力系数下,变弯度的舵面偏转组合方式存在明显差异,小升力系数下,多个舵面负偏的变弯度组合有利于减阻并增加抬头力矩;而大升力系数下则是通过多个舵面正偏的组合实现减阻,但会导致低头力矩增加。基于多舵面组合偏转的变弯度减阻收益与力矩惩罚评估,能为工程上设计可变弯度翼身融合布局飞行器提供参考。

飞行器机翼变形驱动机构研究

为了优化飞行器气动特性,提升飞行效率,研究用于连续变弯度机翼的多级连杆驱动机构。采用ANSYS流体分析功能研究最大弯曲角度下变弯度机翼的气动特性;采用ANSYS静力学分析功能研究极限载荷条件下驱动机构的结构强度;并通过仿真分析与样机测试对驱动机构的运动情况进行研究。研究结果表明:变形机翼获得升力系数为1.4,所受最大气流动压1 078 Pa,小于下表面屈服气流动压4 916 Pa;驱动机构所受最大应力37.3 MPa,小于结构屈服强度55.2 MPa;机翼弯曲变形角度可达±25°,满足了飞行器对改善飞行特性方面的需要。

鱼骨柔性翼等效结构建模及其气动弹性特性分析

鱼骨柔性翼(Fish bone active camber,FishBAC)是一种依靠结构变形实现机翼弯度变化的结构形式,相较于传统的离散式控制面和增升装置,可以在实现机翼弯度变化的同时保持气动表面的连续与光滑。然而,其依靠结构弹性变形实现机翼变弯度的基本特征可能引发潜在气动弹性问题。针对柔性翼潜在的气动弹性问题,本文从结构特性和气动弹性特性两方面进行了研究。在结构特性方面,基于欧拉梁理论和逐段刚化法建立等效结构模型,经有限元验证发现简化模型在计算非均质梁结构保持精度的同时提高了计算效率。在气动弹性特性分析方面,基于等效刚柔耦合翼型模型和非定常气动理论完成了气动弹性特性分析。结果表明,FishBAC建模时需考虑结构柔性,忽略结构柔性会对气动弹性特性的预测存在一定偏差。在驱动力矩低于1.5 N·m时,本文简化的等效结构模型可较好地预测考虑静气动弹性特性的机翼结构形变。使用本文提出的翼型模型考虑结构存在刚柔耦合特性,并预测柔性段所发生的弯度颤振,简化模型与MSC Nastran相比在颤振速度预测上保持了一致性。

连续变弯度后缘飞机的滚转机动载荷减缓

变弯度后缘机翼具有变形连续、阻力较小、气动噪声较低等优势,越来越多地应用于新概念飞行器的设计之中。基于此,提出一种基于变弯度后缘的飞行器刚弹耦合动力学建模方法,并针对变弯度后缘飞机缩比模型开展了滚转机动仿真分析与风洞试验。结果表明:变弯度后缘可以操纵飞机在2 s内进行180°滚转机动。相较于外侧后缘单独变形,通过内外后缘协同变形可以降低30%以上的滚转机动附加载荷。另外,对比表明滚转角仿真结果与风洞试验数据误差小于6%,验证了所提方法的准确性。

变弯度柔性后缘机翼动响应减缓试验

变体飞行器能显著提升飞行器的气动性能,而变弯度柔性后缘是实现变体飞行器的重要方式之一。为探究柔性后缘动态偏转下机翼动响应特性及减缓效率,设计了一个变弯度柔性后缘机翼模型并开展了风洞试验。该机翼模型由承弯翼梁和6个3D打印的翼段组成。其中,2个翼段后缘分别设计2个变弯度柔性后缘舵面,这2个舵面分别用于动响应激励和动响应减缓控制。变弯度柔性后缘舵面由数字舵机、柔性索、波纹板结构和聚二甲基硅氧烷(PDMS)柔性蒙皮组成。对变弯度柔性后缘进行地面静态偏转试验和地面动态偏转试验测试,以研究后缘弯度变形规律及舵机动态时滞特性。在此基础上,在低速风洞试验中研究变弯度柔性后缘机翼动响应规律和基于变弯度柔性和闭环反馈控制的动响应减缓效率。风洞试验结果表明:机翼的翼尖加速度响应及翼根弯矩在频率为1.5~4 Hz时先增大后减小,并在接近机翼一弯频率时达到峰值。采用PID控制律和变弯度后缘进行闭环反馈控制后,在风速20 m/s、扰动频率2.2 Hz时翼尖加速度最大减缓效率达到70.18%,翼根弯矩的最大减缓效率为68.14%。此外,还提出了动响应减缓效率为正值的理论公式并分析了动响应减缓效率的影响机制和因素。

纤维增强复合材料柔性封堵结构分析与验证

变弯度机翼展向翼端面封堵结构对于提升可变体机翼的变形精度、防止气流分离重要作用。本文针对刚柔耦合变弯度前缘结构,提出了以纤维增强复合材料为壳体,填充弹性基柔性材料的柔性封堵结构设计方案,建立了有限元模型在结构载荷作用下对其力学性能、封堵性能进行分析,制备所设计的柔性封堵结构并对其进行了试验验证。结果表明:(1)柔性封堵结构仿真模拟结果符合实际变形情况,最大应力为412.96 MPa,最大应变为4.15%;沿机翼弦向方向的位移从固定端向前缘逐渐变大,最大位移为6.28 mm;(2)所制备的柔性封堵结构在进行初次压缩试验后,其载荷值随位移的变化近似线性变化,满足变弯度机翼前缘的变形需求。

大展弦比飞行器变形辅助高度控制策略

针对变形飞行器结构/飞行耦合动力学的飞行控制问题,以大展弦比飞行器为研究对象开展了变形辅助高度控制策略研究。采用单元翼多体假设,构建了大展弦比飞行器二面角变形结构,建立了结构/飞行纵向耦合动力学模型,基于线性二次型(LQR)控制器设计方法设计了主动变形(AM)和被动变形(PM) 2种控制策略。其中,被动变形控制策略仅采用升降舵作为控制输入,结构二面角动态行为由耦合动力学驱动;主动变形控制策略以二面角铰链处的扭矩作为额外输入对高度跟踪进行协调控制。仿真分析了2种控制策略下的高度跟踪效果及状态变化,研究结果表明:采用主动变形控制策略可有效改善高度跟踪暂态过程的性能,降低姿态回路的阻尼特性,为未来先进变形飞行器的结构/飞行一体化控制提供研究基础。

大长径比变后掠翼导弹的颤振特性分析

为了增大导弹的内部空间,同时减小空气阻力,导弹外形日益趋于大长径比机构,而这样的设计易造成导弹低频颤振等明显的气动弹性问题。为解决上述问题,可通过调节导弹的气动外形,改变系统气动特性,达到抑制颤振的作用。针对变体飞行器技术之一的变后掠翼展开研究,围绕大长径比导弹的颤振问题,揭示飞行速度对导弹飞行时颤振特性的影响规律,而后验证通过改变导弹后掠角主动抑制导弹颤振方法的可行性,为解决导弹的颤振问题提供理论支撑。

涡轴-涡扇变循环发动机方案及性能匹配设计研究

针对旋转机翼式垂直起降高速巡航飞行器,提出了一种新概念结构形式的涡轴-涡扇变循环(TSFVCE)发动机,能够分别在涡轴和涡扇两种模态工作。首先对涡轴-涡扇变循环发动机的结构及工作模式进行了介绍,并建立基于变比热的部件级性能仿真模型;然后通过循环分析,确定发动机第二涵道比为3,Flade外涵风扇压比为1.98,第一涵道比为0.11,完成发动机设计点性能方案设计;最后分析了核心机驱动风扇(CDFS)可调机构对发动机性能影响机理,得出CDFS放气阀对发动机涡扇模态下的推力与涡轴模态下的功率影响较大,对涡扇模态的推力影响最大为61.5%,对涡轴模态的功率影响最大为33.3%,可利用此特性实现发动机在涡扇和涡轴模态下推力和功率输出的匹配。