仿昆虫微飞行器简化气动力模型的研究
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摘要
仿昆虫微飞行器具有机动性能好、体积小、能量利用效率高等优点,是目前飞行器领域的研究热点之一,近十年来先后有7篇相关文章在著名杂志Science和Nature上发表。
制作实际的“机器知了”,首先需要一个合适的气动力模型,而目前各类文献中的气动力模型,在实际控制中不能同时满足对于精度和实时性的要求。本论文针对昆虫拍翅气动力模型,进行了如下的工作:
1、面向工程实际,建立了既能满足精度,又能满足计算实时性要求的昆虫拍翅气动力模型
在Dickinson基于经验拟合系数的拍动模型和Ellington USBE模型的基础上,提出了两个气动力模型,即取Dickinson和Ellington两模型优点的用Dickinson实验系数修正后的USBE模型;及将USBE模型在弦展方向扩展后的EUSBE模型。在第三章分别对以上模型进行了各种气动特性的仿真,并与实验结果进行了比较。
针对附加质量在拍动中的作用问题,采用了两种不同的建模方法对翅膀周围的流体附加质量进行了建模。一为“基于经验系数的附加质量模型”;二为“由阻力增量推出的附加质量模型”。在第四章,结合前面提出的EUSBE模型,对以上两个模型进行了仿真,并详细分析和讨论了附加质量分量在不同翅膀转动模式下一个周期中主要阶段的不同作用;最后对两个模型进行了横向比较。
2、利用以上模型,对所设计的仿蝉翅膀进行了气动特性分析
参考蝉的翅膀,设计了一款翅展33毫米的仿蝉翅膀;采用第四章中包含附加质量的EUSBE模型,在第五章中从工程的角度对其各类特性进行了仿真分析和讨论。
3、对在建模过程中发现的问题进行了进一步的探索,提出了粘度可能影响附加质量力实际表现的观点
针对本文仿真结果与实验结果之间的差异,通过在加/减速阶段采用不同的系数,得到了与实验相当吻合的仿真结果;同时,对薄层变速运动流体的受力分析表明,实际表现出来的附加质量力的幅度可能受流体粘度的影响,从而在第六章提出了流体粘度对附加质量力可能有影响的新观点。
Due to its highest maneuverability, small size, high efficiency both in aerodynamic and energy utilities, the insect-like Micro-Airo-Vehicle becomes one of the most popular research area of aero-craft designing. Seven research articles were published on Science and Nature magazines in the past decade.
To make a "cicada airo-robot", an aerodynamic model of insect flight was needed. This model should satisfy two requirements: simple enough to be used in real-time control and accurate enough to predict properly the aerodynamic forces. So the main tasks of this dissertation are:
1 Building an aerodynamic model of insect flight which can meet the above two requirements
Based on the empirical aerodynamic model developed by Dickinson and the model of USBE (Un-Steady Blade Element) by Ellington, two new aerodynamic models were proposed. The first one was the USBE model revised by Dickinson's coefficients, which took the advantages of those two models. The second was EUSBE (Extended Un-Steady Blade Element) model, which extended the blade element theory into the chord direction. Simulations of the above models were made respectively, and the results were compared with the experiment results. The above works were described in chartper 3.
To study the effects of added mass, two different models with fluid added mass effects taken into account were made from the engineering point of view. One was the experiential coefficient based added mass model; and the other was the increased drag derived added mass model. Simulations of the two models were carried out respectively in charpter 4, and the added mass effects at the key points during one stroke cycle in different rotation mode were carefully analyzed and discussed. Comparisons were made between the two models.
2 Analyzing the aerodynamic properties of a simplified cicada wing
According to the real wing of a cicada, a 33mm wingspan simplified wing was considered. Simulations were made using the EUSBE model proposed in chapter 4 with added mass effects taken into account. Analyses of the aerodynamic properties of this wing were made from the engineering point of view.
3 Making further investigations to the related problems and proposing an idea that the viscosity of the fluid might influence the added mass effects
To eliminate the discrepancies between the simulation and experiment results, two different added mass coefficients were used for accelerating and decelerating periods, respectively. The simulation results showed very well agreement with the experimental results. At the same time, the forces on an accelerating thin fluid layer were investigated carefully, and a conclusion was made that the viscosity of fluid might influence the added mass effects.
制作实际的“机器知了”,首先需要一个合适的气动力模型,而目前各类文献中的气动力模型,在实际控制中不能同时满足对于精度和实时性的要求。本论文针对昆虫拍翅气动力模型,进行了如下的工作:
1、面向工程实际,建立了既能满足精度,又能满足计算实时性要求的昆虫拍翅气动力模型
在Dickinson基于经验拟合系数的拍动模型和Ellington USBE模型的基础上,提出了两个气动力模型,即取Dickinson和Ellington两模型优点的用Dickinson实验系数修正后的USBE模型;及将USBE模型在弦展方向扩展后的EUSBE模型。在第三章分别对以上模型进行了各种气动特性的仿真,并与实验结果进行了比较。
针对附加质量在拍动中的作用问题,采用了两种不同的建模方法对翅膀周围的流体附加质量进行了建模。一为“基于经验系数的附加质量模型”;二为“由阻力增量推出的附加质量模型”。在第四章,结合前面提出的EUSBE模型,对以上两个模型进行了仿真,并详细分析和讨论了附加质量分量在不同翅膀转动模式下一个周期中主要阶段的不同作用;最后对两个模型进行了横向比较。
2、利用以上模型,对所设计的仿蝉翅膀进行了气动特性分析
参考蝉的翅膀,设计了一款翅展33毫米的仿蝉翅膀;采用第四章中包含附加质量的EUSBE模型,在第五章中从工程的角度对其各类特性进行了仿真分析和讨论。
3、对在建模过程中发现的问题进行了进一步的探索,提出了粘度可能影响附加质量力实际表现的观点
针对本文仿真结果与实验结果之间的差异,通过在加/减速阶段采用不同的系数,得到了与实验相当吻合的仿真结果;同时,对薄层变速运动流体的受力分析表明,实际表现出来的附加质量力的幅度可能受流体粘度的影响,从而在第六章提出了流体粘度对附加质量力可能有影响的新观点。
Due to its highest maneuverability, small size, high efficiency both in aerodynamic and energy utilities, the insect-like Micro-Airo-Vehicle becomes one of the most popular research area of aero-craft designing. Seven research articles were published on Science and Nature magazines in the past decade.
To make a "cicada airo-robot", an aerodynamic model of insect flight was needed. This model should satisfy two requirements: simple enough to be used in real-time control and accurate enough to predict properly the aerodynamic forces. So the main tasks of this dissertation are:
1 Building an aerodynamic model of insect flight which can meet the above two requirements
Based on the empirical aerodynamic model developed by Dickinson and the model of USBE (Un-Steady Blade Element) by Ellington, two new aerodynamic models were proposed. The first one was the USBE model revised by Dickinson's coefficients, which took the advantages of those two models. The second was EUSBE (Extended Un-Steady Blade Element) model, which extended the blade element theory into the chord direction. Simulations of the above models were made respectively, and the results were compared with the experiment results. The above works were described in chartper 3.
To study the effects of added mass, two different models with fluid added mass effects taken into account were made from the engineering point of view. One was the experiential coefficient based added mass model; and the other was the increased drag derived added mass model. Simulations of the two models were carried out respectively in charpter 4, and the added mass effects at the key points during one stroke cycle in different rotation mode were carefully analyzed and discussed. Comparisons were made between the two models.
2 Analyzing the aerodynamic properties of a simplified cicada wing
According to the real wing of a cicada, a 33mm wingspan simplified wing was considered. Simulations were made using the EUSBE model proposed in chapter 4 with added mass effects taken into account. Analyses of the aerodynamic properties of this wing were made from the engineering point of view.
3 Making further investigations to the related problems and proposing an idea that the viscosity of the fluid might influence the added mass effects
To eliminate the discrepancies between the simulation and experiment results, two different added mass coefficients were used for accelerating and decelerating periods, respectively. The simulation results showed very well agreement with the experimental results. At the same time, the forces on an accelerating thin fluid layer were investigated carefully, and a conclusion was made that the viscosity of fluid might influence the added mass effects.
引文
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