扑翼机飞行器传动机构动力学分析

摘要

自古以来在天空中翱翔都是人们梦寐以求的，经历了几千年的研究，目前应用较为广泛的飞行器有固定翼飞行器、旋翼飞行器、扑翼飞行器。然而，扑翼飞行器多采用仿自然生物飞行特征研究得到，它具有良好的激动灵活性，很高的升阻比，而且尺寸相对较小，耗能较少，因此相比较固定翼和旋翼飞行器应用更加广泛，目前在民用、国防、军事领域中都有着很好的应用。

从国内外研究现状中显示，目前扑翼机都处于研究阶段，远没有达到推广和大范围应用阶段，存在的问题也相对较多。本文以此为出发点，主要对扑翼机飞行器机构的动力学进行研究，通过对常见扑翼机飞行器传动机构的研究、分析和比较，发现其中的不足，本文在传统的曲柄摇杆的基础上对其进行改进，验证曲柄中存在夹角的曲柄摇杆机构在提高两侧摇杆同步性方面的优势，并且证实了不对称摇杆机构中曲柄存在夹角的情况，相比曲柄中不存在夹角的机构在减少左右摇杆相位差角方面更有优势，能提高不对称机构的同步性。通过对鸟类、昆虫两类生物飞行机理的研究，本文从仿昆虫、仿鸟类、仿蜂鸟三种生物对扑翼几飞行器尺度律进行分析，研究结果表明，扑翼飞行器与真实鸟类的尺度律之间还存在较大程度的差异。通过对扑翼机飞行器传统机构数学模型的建立、模型的求解和推导，得出最佳模型，并从常定力、惯性力以及阻尼力三个方面对飞行器进行了动力学仿真，定常力情况时，弹簧的存在使输入功率的峰值降低了86%，惯性力情况时，弹簧的存在使功率峰值降低了20%，阻尼力情况时，弹簧的存在使功率峰值升高了56%。从整个系统角度来说，弹簧通过对能量的储存和释放两个过程减缓了输入功率的峰值。为了进一步验证安装弹簧在减少功率峰值上的优势，对该进型的不对称传动机构机型了分析研究表明，安装弹簧之后功率峰值可以有效减少40.3%。针对扑翼飞行器续航时间短的问题，对采用太阳能电池板制作扑翼飞行器翅翼的方案进行了可行性分析。分析结果表明，采用太阳能电池板制作扑翼飞行器翅翼具有可行性，在电池板转化效率较高时，收集的太阳能可以提供扑翼飞行器飞行所需的全部能量。

Abstract

Since ancient times, flying in the sky are coveted, has experienced thousands of years of research, the aircraft widely used fixed wing aircraft, rotorcraft, flapping wing aircraft. However, the use of natural biological research aircraft flight characteristics imitation, it has good emotional flexibility, high lift drag ratio, and relatively small size, less energy consumption, so the comparison of fixed and rotary wing aircraft is used more and more widely, at present in the civil and national defense and military field have a very good application.

From the research status at home and abroad, we can see that at present, the flapping wing aircraft is at the research stage, far from reaching the stage of popularization and application, and there are still more problems. This article as a starting point for research on Mechanism of flapping wing aircraft dynamics, through research, analysis and comparison of the common flapping wing aircraft driving mechanism, found the problem, based on the traditional crank rocker on the improvement of the existing angle of the crank rocker mechanism in improving the synchronization of both sides of the rocker the advantages are validated and confirmed in the crank angle, the existence of asymmetric crank rocker mechanism, the crank angle does not exist in the mechanism in reducing about rocker phase difference angle has more advantages than can improve the synchronization of the asymmetry mechanism. Through the study of birds and insects of two kinds of biological flight mechanism, this paper from the analysis of several aircraft scaling insect like flapping, imitation imitation birds, three species of hummingbirds. The results show that between flapping flight and real bird scale law also involves a high degree of difference. By solving the mathematical model is established, and the aircraft ornithopter traditional mechanism model, the optimum model, and simulated from three aspects often force, inertial force and damping force of the vehicle, constant force situation, the presence of spring makes the peak input power is reduced by 86%, the inertial force situation the spring, the peak power is reduced by 20%, the

damping force when the spring peak power increased by 56%. From the point of view of the whole system, the spring slows the peak of the input power by storing and releasing two processes of energy. In order to further verify that the installed spring has the advantage of reducing the power peak value, the analysis and research of the asymmetric transmission mechanism of this type show that the power peak can be reduced by 40.3% after installing the spring. The flapping wing aircraft battery life short problem, to make flapping flight wings using solar panels for feasibility analysis. The analysis results show that the production of flapping wing aircraft wings with the feasibility of using solar panels, high conversion efficiency in solar panels, to collect solar energy can provide all the required flying wing aircraft.