CN105366050A - Piezoelectric dragonfly-imitating micro flapping-wing aircraft - Google Patents
Piezoelectric dragonfly-imitating micro flapping-wing aircraft Download PDFInfo
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- CN105366050A CN105366050A CN201510824649.XA CN201510824649A CN105366050A CN 105366050 A CN105366050 A CN 105366050A CN 201510824649 A CN201510824649 A CN 201510824649A CN 105366050 A CN105366050 A CN 105366050A
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- air vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
- B64C33/025—Wings; Actuating mechanisms therefor the entire wing moving either up or down
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a piezoelectric dragonfly-imitating micro flapping-wing aircraft. The piezoelectric dragonfly-imitating micro flapping-wing aircraft comprises an aircraft body, wing fixed plates, dragonfly-imitating wings and four twin-lamella piezoelectric actuators; the aircraft body comprises a fixing chamber, the wing fixed plates are fixed in a cavity of the fixing chamber, fixed orifices are arranged on opposite sidewalls of the fixing chamber, the dragonfly-imitating wings pass through the fixed orifices and are fixed on the wing fixed plate; the dragonfly-imitating wings comprise two front wings and two rear wings, one end of the twin-lamella piezoelectric actuator passes through the fixed orifices and is fixed with a wing root of the wing, other parts are suspended, and a cantilever beam structure is formed, and each twin-lamella piezoelectric actuator respectively controls one wing to generate flapping movement or adjusts deflecting direction under voltage excitation. The wings can bear high-frequency alternating stress, can bear different loads of various attitudes such as flapping, gliding and circling, and can obtain excellent balance stability and attitude control diversity; and more wings can obtain larger bearing capability.
Description
Technical field
Embodiments of the present invention relate to minute vehicle technical field, and more specifically, embodiments of the present invention relate to a kind of piezoelectric type and imitate dragonfly micro flapping wing air vehicle.
Background technology
The concept of minute vehicle (MAV) was proposed by beforehand research office of U.S. Department of Defense (DARPA) early than 1992.The dimensional standard of the MAV proposed at that time is that the length of body is all no more than 0.15m, and maximum weight is about 0.1kg, and capacity weight is about 0.056kg, and speed is 10 ~ 20m/s, and the U.S. considers from service load demand, and general size is less than 0.33m.Often be divided into fixed-wing, rotor, flapping wing three kinds.
A kind of course of new aircraft of imitating birds or insect flying of micro flapping wing air vehicle, adopts the compound movement of wing to realize the minute vehicle of flight.Compare with rotor with fixed-wing, flapping flight mode has larger 1ift-drag ratio, stronger Ability of Resisting Disturbance and more flexibly manoevreability, has vertical takeoff and landing and hovering function, has more advantage in little space.Its flutter with birds or insects very similar, there is very strong disguise, in dual-use, there is very wide application prospect.
Micro flapping wing air vehicle is studied more abroad, more typically has University of California to develop " MicroBat ", " Mentor " that research center, Stamford and University of Toronto develop jointly, and a new generation of American R & D " hummingbird ".Domestic Northwestern Polytechnical University, Shanghai Communications University, Nanjing Aero-Space University etc. are all in the research carrying out minute vehicle.
The features such as piezoelectric actuator structure has simply, flexible design, volume are little, precision is high, driving power is little, High power output, are applicable to micro flapping wing air vehicle.
The Chinese patent of publication number 103708033A, application number 201310719532.6, provides a kind of two driving type piezoelectric actuator micro flapping wing air vehicles based on flexible hinge.This patent adopts hinge as the enlarger of piezoelectric patches, and structural re-sponse frequency is limited; This patent only adopts double-vane, the more difficult motion control realizing complexity.
The oscillation frequency 30-50Hz of dragonfly wing, wing is light, but high-frequency reverse stress can be born, different loads under various attitudes such as can bearing beating, glide, spiral, there is superpower stability and load-carrying capacity, also there is automatically cleaning, shoulder fatigue, the function such as weakening noise reduction, be the native template of the research of micro flapping wing air vehicle, but do not have micro flapping wing air vehicle can utilize the advantage of dragonfly wing at present.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, there is provided a kind of piezoelectric type to imitate dragonfly micro flapping wing air vehicle, can not bear that high-frequency reverse stress, flight attitude are limited to expect can be solved by the advantage utilizing dragonfly wing to fly existing aircraft, poor stability and the problem such as load-carrying capacity is weak.
For solving above-mentioned technical matters, one embodiment of the present invention by the following technical solutions:
A kind of piezoelectric type imitates dragonfly micro flapping wing air vehicle, comprises aircraft trunk, wing adapter plate, imitative dragonfly formula wing and four bi-morph piezo-electric actuators; Described aircraft trunk comprises a fixed bin, and wing adapter plate is fixed in the cavity of this fixed bin, and the sidewall of two opposition of this fixed bin arranges fixed orifice, and described imitative dragonfly formula wing is fixed on wing adapter plate through after this fixed orifice; Wing and a pair rear wing totally four wing before described imitative dragonfly formula wing comprises a pair, described bi-morph piezo-electric actuator one end is passed fixed orifice and is fixed with the wing root of wing, remainder is unsettled, form beam type structure, each bi-morph piezo-electric actuator controls a wing respectively and produces beating motion or regulate deflecting direction under voltage-drive.
Described aircraft trunk also comprises a fuselage head and an empennage, and the profile of described fuselage head is stream line pattern, and described empennage is pole shape.Fuselage head often adopts round end stream line pattern or tip stream line pattern, but other also can be adopted can to reduce the shape of air resistance.
Described aircraft trunk adopts carbon fiber material to make.
The vein of described imitative dragonfly formula wing adopts carbon fibre material to make, and its parachute adopts mylar to make.
Described parachute have the costa and pressure costa that imitate dragonfly wing.
Described wing adapter plate comprises former and later two, and before a pair, wing symmetry is fixed on front wing adapter plate, and after a pair, wing symmetry is fixed on rear wing adapter plate.
Described bi-morph piezo-electric actuator comprises the oblong piezoelectric ceramic piece of two-layer active movement, forms passive movement Structural layer between the oblong piezoelectric ceramic piece that the wing root of described wing is fixed on two-layer active movement.
Four described bi-morph piezo-electric actuators are controlled respectively by four power supplys, and the oscillation frequency of any bi-morph piezo-electric actuator can regulate separately.
Described fixed orifice is 4, and be symmetrically distributed between two on the sidewall of two opposition of fixed bin, each fixed orifice limits the relative position of a wing and the bi-morph piezo-electric actuator interfixed.
Described imitative dragonfly formula wing and wing adapter plate are interfixed by lining cement, and the wing root of described bi-morph piezo-electric actuator and wing is interfixed by lining cement.
Compared with prior art, one of beneficial effect of the present invention is: the present invention is compared with existing flapping wing aircraft, and wing adopts imitative dragonfly wing structure.This kind of biomimetic features presents muscle arteries and veins mechanics layout, can bear high-frequency reverse stress, the different loads under various attitudes such as can bearing beating, glide, spiral; This kind of biomimetic features adopts four wings, can obtain excellent stability of equilibrium, gesture stability variety; Meanwhile, more wing obtains larger load-carrying capacity.
Accompanying drawing explanation
Fig. 1 is the aircraft trunk structural representation that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 2 is the integral structure schematic diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 3 is the fore wing wing structure schematic diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Fig. 4 is the hind wing wing structure schematic diagram that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The keystone configuration that piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle is aircraft trunk, wing adapter plate, imitative dragonfly formula wing and four bi-morph piezo-electric actuators, as depicted in figs. 1 and 2, aircraft trunk 1 adopts light material such as carbon fiber material to make, and has a fixed bin 101, fuselage head 102 and empennage 103.The Main Function of fuselage head 102 reduces air resistance, and fuselage head 102 and empennage 103 can also play the effect of balance fuselage, described fuselage head 102 profile is stream line pattern, as round end stream line pattern, structure is close to badminton head, and described empennage 103 is pole shape.Fixed bin 101 can be the rectangular structure that inside has cavity, the effect of fixed bin 101 is other structures of carrying and fixing aircraft or carries some micromodule equipment, if wing adapter plate 104 is exactly be fixed in the cavity of fixed bin 101, the balance of fuselage will be considered in its position, should in the centre of fixed bin 101.The sidewall that two of fixed bin 101 are symmetrical arranges fixed orifice 105, and imitative dragonfly formula wing 2 is fixed on wing adapter plate 104 through after this fixed orifice 105.Wing 201 and a pair rear wing 202 totally four wing before imitative dragonfly formula wing 2 comprises a pair, as shown in Figure 3 and Figure 4, the part that imitative dragonfly formula wing 2 is divided into vein different with parachute two, vein adopts carbon fibre material to make, and parachute adopts mylar to make, this bi-material is all light material, and the costa 2012,2022 parachute had on dragonfly wing and pressure costa 2013,2023.Bi-morph piezo-electric actuator 3 one end is fixed through fixed orifice 105 and with the wing root 2011,2021 of wing, remainder is unsettled, form beam type structure, each bi-morph piezo-electric actuator 3 controls a wing respectively and produces beating motion or regulate deflecting direction under voltage-drive.Regulate the excitation frequency of bi-morph piezo-electric actuator, directly act on wing, can produce and significantly flutter.
Wing adapter plate 104 has two, is divided into front wing adapter plate and rear wing adapter plate, and wing 201 symmetry before a pair is fixed on aircraft trunk 1 by front wing adapter plate, and wing 202 symmetry after a pair is fixed on aircraft trunk 1 by rear wing adapter plate.
Bi-morph piezo-electric actuator 3 comprises the oblong piezoelectric ceramic piece of two-layer active movement, forms passive movement Structural layer between the oblong piezoelectric ceramic piece that the wing root 2011,2021 of described wing is fixed on two-layer active movement.During use, one end of actuator and the wing root of wing are fixed, all the other structures are unsettled, form beam type structure, upper strata piezoceramic strains because inverse piezoelectric effect produces, extend along its length, and laminated electroceramics produces flexible, thus it is bending that piezoelectric cantilever is produced, and realizes the output of displacement at beam end.
The wing that piezoelectric type imitates dragonfly micro flapping wing air vehicle adopts the structure of imitating the dragonfly wing, and vein adopts light material, and parachute adopts light thin film material.Remain the train of thought such as costa, auxilairs in dragonfly wing in wing, fully imitate dragonfly wing structure, make wing light and handy and high-frequency reverse stress can be born, there is superpower stability and load-carrying capacity.This aircraft is same the same with dragonfly, and adopt the structure of two pairs of wings, flying method is more complicated.
The wing of dragonfly is primarily of vein and parachute composition, and vein plays a part to support wing, and parachute is the main aerodynamic structure of wing.The leading edge of wing and trailing edge are stream line pattern, add his alerting ability, wing spanwise is sharp cone distal, it can reduce moment of inertia, reduce energy required when fluttering its wings up and down, alleviate the stress in the apex of the wing, simultaneously, it makes the apex of the wing when being subject to excessive force of inertia and burst impact load, can fly more neatly and be out of shape.The geometry of dragonfly wing uniqueness, enables the energy and the stress that regulate self along with the change of flight environment of vehicle.Imitative dragonfly formula wing of the present invention has the analog structure of above-mentioned dragonfly wing, can play equally and reduce the effect such as moment of inertia, relieve stresses, and four bi-morph piezo-electric actuators 3 are controlled respectively by four power supplys, the oscillation frequency of any bi-morph piezo-electric actuator can regulate separately.Each wing is by a bi-morph piezo-electric driver control, and aircraft change of flight mode is more flexible.
Fixed orifice 105 has 4, and be symmetrically distributed between two on the sidewall of two opposition of fixed bin 101, each fixed orifice limits the relative position of a wing and the bi-morph piezo-electric actuator interfixed.
Imitative dragonfly formula wing and wing adapter plate are adhesively fixed by lining cement, and the wing root of described bi-morph piezo-electric actuator and wing is adhesively fixed by lining cement.Lining cement can adopt as epoxide-resin glue etc.
Piezoelectric type of the present invention imitates dragonfly micro flapping wing air vehicle structure simply, and four actuators control two pairs of wings respectively, realize the basic flight of aircraft; Wing adopts the structure of imitative dragonfly wing, and actuator then adopts cantilever piezoelectric twin lamella actuator.
Principle of work of the present invention is: bi-morph piezo-electric actuator after being powered up, different elongations is there is respectively in upper and lower two panels piezoceramic under external voltage effect, cause the bending of whole beam type structure, the output of displacement is realized at beam end, directly act on wing, cause and flap, realize the basic flight of aircraft.Bi-morph piezo-electric actuator controls wing respectively, when regulating the oscillation frequency of the wherein bi-morph piezo-electric actuator of a certain or certain multiple wing, wing deflecting direction can be realized, thus enable aircraft adopt multiple posture to fly, and when posture converts, more flexibly.
Although with reference to explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in scope disclosed in the present application, multiple modification and improvement can be carried out to the constituent elements of subject combination layout and/or layout.Except the modification of carrying out constituent elements and/or layout is with except improvement, to those skilled in the art, other improvement also will be obvious.
Claims (10)
1. piezoelectric type imitates a dragonfly micro flapping wing air vehicle, it is characterized in that comprising aircraft trunk (1), wing adapter plate (104), imitative dragonfly formula wing (2) and four bi-morph piezo-electric actuators (3); Described aircraft trunk comprises a fixed bin (101), wing adapter plate (104) is fixed in the cavity of this fixed bin, the sidewall of two opposition of this fixed bin arranges fixed orifice (105), and described imitative dragonfly formula wing (2) is through being fixed on wing adapter plate (104) after this fixed orifice (105); Wing (201) and a pair rear wing (202) totally four wing before described imitative dragonfly formula wing (2) comprises a pair, described bi-morph piezo-electric actuator (3) one end is fixed through fixed orifice (105) and with the wing root (2011,2021) of wing, remainder is unsettled, form beam type structure, each bi-morph piezo-electric actuator (3) controls a wing respectively and produces beating motion or regulate deflecting direction under voltage-drive.
2. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterized in that described aircraft trunk also comprises a fuselage head (102) and an empennage (103), described fuselage head is stream line pattern, and described empennage is pole shape.
3. piezoelectric type according to claim 2 imitates dragonfly micro flapping wing air vehicle, it is characterized in that described aircraft trunk adopts carbon fiber material to make.
4. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, and it is characterized in that the vein of described imitative dragonfly formula wing adopts carbon fibre material to make, its parachute adopts mylar to make.
5. piezoelectric type according to claim 4 imitates dragonfly micro flapping wing air vehicle, it is characterized in that costa (2012,2022) and pressure costa (2013,2023) described parachute with imitation dragonfly wing.
6. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterized in that described wing adapter plate comprises former and later two, and before a pair, wing symmetry is fixed on front wing adapter plate, and after a pair, wing symmetry is fixed on rear wing adapter plate.
7. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterized in that described bi-morph piezo-electric actuator comprises the oblong piezoelectric ceramic piece of two-layer active movement, between the oblong piezoelectric ceramic piece that the wing root of described wing is fixed on two-layer active movement, form passive movement Structural layer.
8. piezoelectric type according to claim 7 imitates dragonfly micro flapping wing air vehicle, and it is characterized in that four described bi-morph piezo-electric actuators are controlled respectively by four power supplys, the oscillation frequency of any bi-morph piezo-electric actuator can regulate separately.
9. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, it is characterized in that described fixed orifice is 4, be symmetrically distributed between two on the sidewall of two opposition of fixed bin, each fixed orifice limits the relative position of a wing and the bi-morph piezo-electric actuator interfixed.
10. piezoelectric type according to claim 1 imitates dragonfly micro flapping wing air vehicle, and it is characterized in that described imitative dragonfly formula wing and wing adapter plate are interfixed by lining cement, the wing root of described bi-morph piezo-electric actuator and wing is interfixed by lining cement.
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105799932A (en) * | 2016-05-05 | 2016-07-27 | 吉林大学 | Full-automatic foldable flapping wing for flapping wing type micro aerial vehicle |
| CN106477043A (en) * | 2016-11-04 | 2017-03-08 | 宁波大学 | A kind of bionical Apiss |
| CN106494617A (en) * | 2016-09-28 | 2017-03-15 | 南京航空航天大学 | One kind can VTOL flapping wing aircraft and its flight control method |
| CN106585981A (en) * | 2016-12-19 | 2017-04-26 | 浙江大学 | Miniature dragonfly-like double-flapping-wing aircraft |
| CN107096236A (en) * | 2017-04-12 | 2017-08-29 | 广东工业大学 | A kind of intelligent-induction bamboo dragonfly |
| CN107187605A (en) * | 2017-06-08 | 2017-09-22 | 唐建芳 | A kind of multi-functional patrol primary and secondary unmanned plane and control method for agriculture and forestry |
| CN107284659A (en) * | 2016-04-05 | 2017-10-24 | 成都迈科高技术开发有限责任公司 | A kind of method for changing micro air vehicle with flapping-wing wing peak swing based on piezoelectric structure |
| CN107618663A (en) * | 2017-10-13 | 2018-01-23 | 吉林大学 | A kind of collapsible adjustable rotor aircraft |
| CN107985590A (en) * | 2017-11-28 | 2018-05-04 | 李维农 | Bilateral oscillator is fluttered its wings up and down machine |
| CN108438220A (en) * | 2018-03-09 | 2018-08-24 | 南京航空航天大学 | A kind of multiple degrees of freedom imitates dragonfly flapping wing aircraft and its control method |
| CN109018339A (en) * | 2018-08-15 | 2018-12-18 | 南昌航空大学 | A kind of flapping mechanism for simulation type of fluttering its wings up and down |
| CN109050909A (en) * | 2018-08-06 | 2018-12-21 | 浙江大学 | A kind of self-powered mini-sized flap wings machine people |
| CN109050911A (en) * | 2018-07-24 | 2018-12-21 | 东南大学 | A kind of processing method of multiple degrees of freedom driving type piezoelectric actuator micro flapping wing air vehicle and its transmission mechanism |
| CN109533324A (en) * | 2019-01-21 | 2019-03-29 | 宁波大学 | Butterfly multifunctional bionic robot |
| GB2586125A (en) * | 2019-08-01 | 2021-02-10 | Animal Dynamics Ltd | A flight control system |
| CN112383242A (en) * | 2020-12-09 | 2021-02-19 | 哈尔滨工业大学 | Linear ultrasonic motor stator with empennage and thin plate frame structure and excitation method thereof |
| CN113799981A (en) * | 2021-09-16 | 2021-12-17 | 西北工业大学太仓长三角研究院 | Flapping wing device for dragonfly-simulated flapping wing aircraft |
| CN113799980A (en) * | 2021-09-16 | 2021-12-17 | 西北工业大学太仓长三角研究院 | Double-wing driving mechanism for dragonfly-simulated flapping-wing aircraft |
| CN113859528A (en) * | 2021-09-16 | 2021-12-31 | 西北工业大学太仓长三角研究院 | Dragonfly-like flapping wing aircraft |
| CN114013645A (en) * | 2021-11-17 | 2022-02-08 | 西北工业大学 | Four-wing flapping wing aircraft |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
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