扑旋翼飞行器机构动力学建模与功率优化

doi:10.3901/JME.2023.17.033

摘要/Abstract

摘要： 仿生扑旋翼微型飞行器目前仍沿用传统的齿轮连杆传动机构，电机需同时克服扑翼的惯性力和气动力做功导致机械效率低。通过理论和数值模拟及实验方法定量分析在机构中引入弹簧对提高其机械效率的作用。首先，基于一个扑旋翼实物模型建立无弹簧原始拍动机构和设置两种弹簧安装位置的系统动力学模型，包括求解系统共振频率的特征方程，进而计算该系统在设定拍动频率时维持拍动所需输入的功率。结果表明采用不同刚度的弹簧对系统具有不同程度的增效作用，当弹簧刚度为1 N/mm时，模型在9 Hz频率下功率可降低54.5%。为验证数学模型的正确性，用商业软件ADAMS建立该扑旋翼动力学模型并模拟计算其运动和功率，结果表明采用两个方法得到的不同弹簧模型功率的最大误差为4.5%。为进一步获得系统的最大效率，分别以功率、输入力矩峰值最小为目标，对弹簧刚度和长度进行寻优计算，结果表明最优的弹簧刚度系统所需的输入功率比原始无弹簧机构减小63.0%。最后，通过该扑旋翼实物模型实验结果验证了弹簧对系统的增效作用，结果表明，采用刚度为1 N/mm弹簧的模型在9 Hz频率下的功率降低55.5%，与理论模型和ADAMS数值模拟的结果相当接近。

关键词: 扑旋翼, 传动机构, 动力学分析, 功率, 刚度优化

Abstract: The classical gear-linkage mechanism has been adapted in the state-of-the-art flapping wing rotor (FWR) micro aerial vehicles (MAV). The driving motor needs to provide power against both inertia force and aerodynamic forces of the flapping wings. This leads to a low efficient mechanical system. The present study is to evaluate the efficiency improvement by adding a spring in the mechanism through theoretical, numerical simulation, and experimental methods. Firstly, the dynamic model for an original FWR MAV without spring was established. This was followed by the dynamic model and the characteristic equation of the system with a spring in two mounting positions in the mechanism. Based on the mathematical model, the average input power required for a flapping cycle of the system with and without spring was calculated as a measure of the efficiency of the mechanism. The analysis results show that spring of different stiffness leads to an efficiency increase to a different extent. In the case of adding a spring of stiffness k=1 N/mm, the input power for the system flapping at frequency 9 Hz was reduced by 54.5%. Secondly, in order to validate the theoretical model and results, a numerical simulation of the FWR model was also carried out by using the commercial software ADAMS. For different models, the maximum difference of the power results from the two methods is only 4.5%. Thirdly, in order to find the most efficient system, an optimization process was carried out for searching the minimum average power or the input torque peak value with the spring stiffness and length as design variables. The results show that the required input power for the optimized system was reduced by 63.0%. Finally, the experiment of the FWR test model was conducted to measure the flapping motion and the total force based on which the spring's contribution to the average power reduction was calculated. Take the spring stiffness k=1 N/mm for example, the average power of the model flapping at a frequency 9 Hz can be reduced by 55.5%. This is very close to the results obtained from the theoretical and ADAMS models.

Key words: flapping wing rotor, mechanical system, dynamic analysis, power, stiffness optimization

中图分类号:

V229

贺媛媛, 王琦琛, 张航, 杨炫, 李傲. 扑旋翼飞行器机构动力学建模与功率优化[J]. 机械工程学报, 2023, 59(17): 33-43.

HE Yuanyuan, WANG Qichen, ZHANG Hang, YANG Xuan, LI Ao. Mechanism Dynamic Model and Power Optimization of Flapping Wing Rotor[J]. Journal of Mechanical Engineering, 2023, 59(17): 33-43.

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