共查询到19条相似文献,搜索用时 750 毫秒
1.
设计一种基于OpenCV的微型扑翼飞行器视觉伺服控制系统.首先介绍微型扑翼飞行器的运动学规律,并对整个控制系统做了简要概括,最后提出一种用于检测微型扑翼飞行器运动轨迹的计算机视觉算法.实验测试表明,该算法与传统的背景差分法等方法相比,对前景运动区域的分割更为精确. 相似文献
2.
微型扑翼飞行器(FMAV)由于微型化和采用扑翼飞行方式的特征,许多传统理论和设计方法不再完全适用,相关理论和技术仍在不断地发展中,所以对国内外相关理论和技术的发展现状进行及时跟踪和研究,具有非常重要的参考意义;通过调查研究,介绍了与微型扑翼飞行器控制系统有关的低雷诺数非定常空气动力学、控制系统数学模型、控制方案和控制方法等的研究进展,总结出了微型扑翼对飞行器控制系统的设计要求,控制系统的特点和需要解决的关键问题,并展望了未来发展趋势。 相似文献
3.
仿生扑翼飞行器有着优异的气动性能和灵活的飞行能力,在军民领域均有广泛的应用前景,学者们在原理样机研制、扑翼气动机理、驱动机构、飞行控制等多领域取得了一系列重要进展.本文从总体设计方法、驱动机构设计与优化、气动机理等方面综述了仿鸟类扑翼飞行器技术的发展历程与研究进展.首先,从扑翼总体设计方法入手,总结了仿鸟类扑翼飞行器仿生构型,归纳了总体设计参数估算方法;其次,综述了多种构型曲柄连杆机构在扑翼驱动中的应用与优缺点;接着总结了扑翼气动机理研究的实验方法与数值计算方法,分析了不同扑翼气动算法针对不同应用场景在计算成本和准确度方面的优劣情况;最后,对仿鸟类扑翼飞行器系统设计研究现状进行总结,针对原理样机研制过程提出展望. 相似文献
4.
基于仿生学的微扑翼飞行器是一种模仿鸟类飞行的新概念飞行器.鉴于扑翼飞行理论及实践本身的困难,为了减少设计制造中的风险,开发了微型仿鸟扑翼飞机设计与仿真系统.采用Visual C 和MATLAB进行仿生学设计模块、驱动机构和气动力计算模块的开发,由此进行扑翼飞机结构及动力学设计,生成初步样机.结合OpenGL技术,建立微型扑翼飞机的三维可视化结构模型,进行扑翼飞机的运动和虚拟飞行仿真.进行扑翼飞机的开发实例分析,结果与实际制作的扑翼飞机各项特征吻合.该系统有很高的实用价值,可以有效地辅助进行微型仿鸟扑翼飞机的研制工作. 相似文献
5.
针对仿昆虫扑翼飞行器核心动力装置——微驱动器的结构特点和研究难点,设计了一种基于静电驱动原理的毫米(mm)级微扑翼驱动器,并针对各个部件研究了整套加工工艺与测试方法.运动优化与升力测试结果表明:微扑翼驱动器(翼展9 mm,重量3 mg)以91 Hz的频率实现了±40°的拍动和±25°的扭转运动,输出1.5 mg的升力,升重较以往静电微扑翼驱动器有大幅提升.研究成果为实现仿昆虫微型飞行器的自主飞行提供了新的方向,并奠定了理论与试验基础. 相似文献
6.
7.
8.
提出一种解耦操控机制,用于解决微型仿昆扑翼飞行器飞行控制中的欠驱动问题.首先通过理论分析和仿真试验分析了翅膀的振翅运动参数对气动力旋量的控制作用;然后在对昆虫飞行所采用的生物学振翅运动进行模拟的基础上,通过调整翅膀的振翅运动参数,设计了一个能对气动力和气动力矩实现独立控制的解耦操控机制.此操控机制采用周期函数将控制输入量参数化,从而在仿昆扑翼布局的动力学模型中引入更多数目的独立控制量.通过将原动力学系统转化为完全能控系统,解决了仿昆扑翼布局的欠驱动控制问题.同时,此操控机制仅仅要求转动角可控,有效地降低了仿昆扑翼飞行器的设计难度. 相似文献
9.
10.
仿生扑翼飞行器的研究现状及关键技术 总被引:4,自引:0,他引:4
本文简要介绍了仿生扑翼飞行器的概念、特点及其应用,概述了仿生扑翼飞行器在国内外早期和当前的研究现状及未来的发展趋势。在此基础上,就目前研究中迫切需要解决的一些关键技术进行了讨论,并结合目前研究情况,对我国仿生扑翼飞行器的未来发展前景进行了展望。 相似文献
11.
仿昆扑翼飞行器全解耦控制 总被引:1,自引:0,他引:1
针对仿昆扑翼飞行器飞行控制所面临的欠驱动问题,基于平均理论,提出采用周期时变反馈策略控制仿昆扑翼飞行器的策略,并给出了设计周期时变反馈控制器的输入参数化设计方法.该方法对飞行昆虫的扑翼运动进行仿生模拟,通过调整根翅运动参数,实现了对6个方向气动力和力矩的独立控制.本质上就是用参数表示欠驱动系统的输入,并以此构造周期时变反馈函数;从而在原系统中引入更多数目的独立控制量,将原系统转化为完全能控系统.然后,将此可控系统线性化,并利用线性反馈控制器设计工具设计其反馈控制律.仿真结果表明,基于该策略设计的控制器具有响应速度快、稳定误差小、鲁棒性强等特点. 相似文献
12.
Tien Van Truong Umeyr Kureemun Vincent Beng Chye Tan Heow Pueh Lee 《Structural and Multidisciplinary Optimization》2018,57(2):653-664
The development of flapping wing micro air vehicles (MAVs) has yielded remarkable progress over the last decades. Achieving high component stiffness is often in conflict with low weight requirement, which is highly desirable for longer flight time and higher payload. Moreover, vibration originated predominantly from the wings, gears and frames excitations, may compromise the flapping wing MAV’s stability and fatigue life. In order to improve the vehicle’s efficiency and performance, optimization of these various parameters is necessary. In this work, we present the structural optimization of a flapping wing micro air vehicle. We focus particularly on the gearbox optimization using Simulia Tosca Structure in Abaqus, which is a robust tool for designing lightweight, rigid and durable components. Various numerical experiments have been conducted towards optimizing the components’ topology, aimed at increasing the stiffness and reducing weight. The finding and results provide a better understanding of the optimal design topology for a spur gear among other structural components used in MAVs. 相似文献
13.
This paper presents a visualization system for analysis of micro aerial vehicle (MAV) scaled flapping wings. By synchronizing
to the wing under test, multiple devices can be triggered at precise phases in the flapping cycle with a high degree of accuracy
and repeatability. The system can control devices such as strobe lights, lasers and cameras to capture wing motion and flow
visualization data at the point of interest. The system was developed, then implemented and tested under ideal and real-world
conditions to evaluate several aspects of performance. The effectiveness of the system was then demonstrated in a flow visualization
experiment, where it was used to capture images of the average airflow around a flapping wing at several wing phases. Performance
measurements showed the high accuracy of the system, while flow visualization results demonstrated significant improvements
in the quality and accuracy of images when the system was used for analysis of a flapping wing. These results indicate the
potential of the developed system to considerably improve visualization analysis of MAV scaled flapping wings. 相似文献
14.
Peng Yuxin Liu Li Zhang Yangkun Cao Jie Cheng Yang Wang Jian 《Microsystem Technologies》2018,24(2):935-941
Microsystem Technologies - In this paper, a smooth impact drive mechanism (SIDM) actuation method for flapping wing mechanism which can be used in bio-inspired micro air vehicles is proposed. The... 相似文献
15.
16.
Tomohiro Jitsukawa Hisaya Adachi Takamichi Abe Hiroshi Yamakawa Shinjiro Umezu 《Artificial Life and Robotics》2017,22(2):203-208
Over the past few years, many researchers have shown an interest in micro air vehicle (MAV), since it can be used for rescue mission and investigation of danger zone which is difficult for human being to enter. In recent years, many researchers try to develop high-performance MAVs, but a little attention has been given to the wing-folding mechanism of wings. When the bird and the flying insects land, they usually fold their wings. If they do not fold their wings, their movement area is limited. In this paper, we focused on the artificial wing-folding mechanism. We designed a new artificial wing that has link mechanism. With the wing-folding mechanism, the wing span was reduced to 15%. In addition, we set feathers separately on the end of wings like those of real birds. The wings make thrust force by the change of the shape of the feathers. However, the wings could not produce enough lift force to lift it. Therefore, we have come to the conclusion that it is necessary to optimize the wings design to get stronger lift force by flapping. 相似文献
17.
The design and micromachining of an electromagnetic MEMS flapping-wing micro air vehicle 总被引:2,自引:0,他引:2
Kun Meng Weiping Zhang Wenyuan Chen Hongyi Li Pengcheng Chi Caijun Zou Xiaosheng Wu Feng Cui Wu Liu Jinge Chen 《Microsystem Technologies》2012,18(1):127-136
An electromagnetic MEMS flapping-wing micro air vehicle at insect scale is presented. The detailed scheme, design, micro fabrication
and experiment are given in this paper. Firstly, by commercial software ANSYS and MATLAB, electromagnetic analysis, modal
analysis and kinetics analysis are proposed. Moreover, based on the result of theoretical analysis, appropriate structure,
material and inherent frequency are selected. Then, a new LIGA-like process based on SU-8 photoresist technology is adopted
to fabricate thorax, tergum and vein. Finally, a 3.5 cm wingspan, 144 mg weight prototype is integrated, and then we finish
the flapping test for this prototype, which has a flapping resonance frequency range of 120–150 Hz. The test result demonstrates
the feasibility solution in the development of FMAV based on MEMS, this work is a stepping-stone on the path toward flying
robotic insects. 相似文献
18.
《Advanced Robotics》2013,27(5-6):409-435
We present a computational study on the aerodynamic performance of flexible wings aiming to facilitate the design of insect-inspired flapping-wing micro air vehicles (FMAVs). First, we propose using a two-dimensional mechanical model for a flapping wing to help understand the mechanism underlying its unsteady deformation when exposed to aerodynamic and inertia forces. This is followed by comparative analyses of both flexible wings and fixed wings in flight. In particular, a 'swaying propulsion' mechanism is proposed to mimic the flapping of the winged insects, and a new concept of 'initial torsion angle' is introduced to provide an equivalent means to account for the asymmetry of the torsional stiffness of the thorax muscle during upstroke and downstroke flapping. Subsequently, the aerodynamic forces and power requirements for a bumblebee's wings under various flight conditions are systematically examined. Our results indicate that flexibility of the wings largely contributes to the high lifts and that gliding forces play a significant role in improving flight performance, suggesting that optimal design of the structure and flapping motions of wings could achieve improved efficiency in FMAVs. These studies promote a brand new design concept for future insect-inspired FMAVs. 相似文献
19.
This work considers the aeroelastic optimization of a membrane micro air vehicle wing through topology optimization. The low
aspect ratio wing is discretized into panels: a two material formulation on the wetted surface is used, where each panel can
be membrane (wing skin) or carbon fiber (laminate reinforcement). An analytical sensitivity analysis of the aeroelastic system
is used for the gradient-based optimization of aerodynamic objective functions. An explicit penalty is added, as needed, to
force the structure to a 0–1 distribution. The dependence of the solution upon initial design, angle of attack, mesh density,
and objective function are presented. Deformation and pressure distributions along the wing are studied for various load-augmenting
and load-alleviating designs (both baseline and optimized), in order to establish a link between stiffness distribution and
aerodynamic performance of membrane micro air vehicle wings. The work concludes with an experimental validation of the superiority
of select optimal designs. 相似文献