基于“动翅痣”仿生机理的可悬停大翼展鸟型飞行器高机动控制研究

Large-scale bird-like ornithopters have great potential to be utilized in military/industrial missions, especially if the flying space is zigzag and cannot be human accessed. Related research fields therefore received great attention from research institutions worldwide. However, the truth that currently large-scale ornithopters cannot achieve hovering and agile flying abilities vastly limits its practicality, owning to the lack of efficient control methods for large-scale flapping wings. Even there are several successful hovering tests on insect-scale ornithopters, or so-called insectothopter, their loading capacity and flying endurance are too limited for practical applications, and the customized wing force control methods cannot be adopted by larger ornithopters. .Towards this bottleneck problem, this study proposed an innovative control force generating method for large-scale bird-like ornithopters, inspired by insect pterostigma structure. Through position control of a small mass installed at the wing leading edge, the wing structure dynamics is slightly changed, the aerodynamic effects of which is then amplified by the wings high speed flapping, and finally the flapping wing force generation can be significantly changed at a high control bandwidth. This proposed study will focus on the application of “movable-pterostigma” in hovering and agile flying, through aspects including bionic mechanism, optimized design, flight control method and prototype experiments. Through this study, the largest hover-capable ornithopters on the world will be built, with loading and endurance capacity improved by orders of magnitude, thus promote the potential applications of bird-like ornithopters in military/industrial missions.

大翼展鸟型飞行器在人员无法到达狭窄空域与地区所进行的特殊军事、行业任务中具有重要应用前景，近年来得到国内外科研机构的高度关注。然而由于大型扑翼结构高刚度大惯量特征，难以通过较小功耗与增重代价实现运动变形控制，无悬停高机动能力，起降方式受限，极大限制其实际应用。尽管当前仿昆虫扑翼飞行器可实现悬停能力，但带载能力极低，续航能力差，且其控制手段无法应用于大型扑翼。.针对大型扑翼高动态控制瓶颈问题，本申请根据昆虫翅痣仿生原理进行提炼，创新提出了“动翅痣”控制方案，通过移动微型翅痣配重对翼面动力学特性形成微小改变，利用扑翼高速扑打将其影响放大，以极低增重与功耗代价产生显著高频宽矢量控制力。本研究将围绕“动翅痣”方案在大翼展鸟型扑翼中的应用展开仿生机理、优化设计、控制方法与物理样机研究，研制当前国际上最大可悬停扑翼物理样机，实现载荷与续航能力数量级提升，从而推动扑翼技术在行业、军事领域早日走向实用化。

本研究旨在针对扑翼高机动控制技术瓶颈，通过对昆虫翅痣的仿生研究，提炼并揭示翅痣位置变化对扑翼气动性能影响的根本机理，并基于此对“动翅痣”这一新型扑翼控制机构进行合理设计与优化，提出小增重、低伺服功耗、高控制频宽的大型扑翼直接力控制新方案，并将进一步围绕“动翅痣”方案在大翼展鸟型扑翼中的应用展开控制方法与物理样机研究，研制验证机。.对此，本研究首先完成了非圆薄壁管翼结构扭转模型与非定常扑翼气动模型的构建，并通过振动分析常用的模态分解理论，通过结合弯曲、扭转梁动力学模型与西奥道森扑翼非定常气动模型，首次建立了三维扑翼流固耦合扭转模型，通过参数分离法设计了模型的求解方法，从结果中发现对于不同机翼的扭转刚度，前五阶振动模态均起到了主导作用。.进而依据流固耦合模型，研究中完成了动翅痣机理分析，并完成了动翅痣伺服机构控制系统建模，提出了动翅痣系统的优化设计方法，完善了扑翼的推进力和效率的解析分析方法，最终形成了系统的扑翼正向设计手段，可以在总体设计阶段，根据目标飞行包线，形成较优的扑翼运动学和柔性特征参数，避免了复杂的有限元仿真计算迭代过程。.为了进一步提升飞行器机动性，研究中提出了翼-尾耦合仿生原理，利用浸润在主扑翼诱导气流中的全动尾翼形成有效的俯仰控制手段，采用多物理场联合仿真手段，获取了较为可信的扑翼诱导流场结果。通过联合仿真与后处理分析，提出了诱导流场速度分布解析模型，并基于此设计了高机动尾翼控制律。.依据动翅痣机理研究结果，依靠舵机绞盘系统与前缘丝操纵仿生翅痣完成了推力矢量伺服机构的详细设计，进而完成了一型可悬飞扑翼飞行器试验机总体设计、详细设计、轻量化飞控软硬件开发与飞行器样机的试制试飞，飞行结果成功验证了研究中提出的理论与方法。该研究的理论成果可服务于各类扑翼飞行器的研制，为扑翼技术应用落地奠定基础。