【作者】 周凯；

【导师】 方宗德；

【作者基本信息】 西北工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 微扑翼飞行器(FMAV)是一种模仿鸟类或昆虫飞行的新概念飞行器。由于具有体积小、重量轻、成本低、隐身性和可操作性好等特点，在国防和民用领域有十分重要而广泛的应用。仿生学和空气动力学研究均表明，对于特征尺寸相当于鸟或者昆虫的微型飞行器来说，扑翼飞行要优于固定翼和旋翼飞行器。 单曲柄双摇杆驱动机构类型的微扑翼飞行器在试飞过程中时常发生向左或者向右倾斜栽落的现象。这是由于左右扑翼动作的不完全对称性引起的。本文以这种类型的微扑翼飞行器为研究对象，把已有的空气动力学研究成果与其结构和运动结合起来，以建模、仿真与优化等为研究手段，围绕着提高该类型微扑翼飞行器的运动对称性而展开工作。 微扑翼飞行器的翅翼一般是连接在驱动机构摇杆上的，不同的驱动机构决定了不同的扑翼飞行方式，而不同的扑翼方式也需要不同的驱动机构与之相适应，因此驱动机构不仅是微扑翼飞行器的关键部件，还是体现其扑翼动作特征的机构。针对上述现象和驱动机构在微扑翼飞行器中的重要作用，本文建立了单曲柄双摇杆驱动机构的运动参数数学模型及其在ADAMS中的仿真模型，同一参数在这两类模型下的运动曲线图完全一致，验证了数学建模与仿真建模的正确性。为了提高单曲柄双摇杆驱动机构的运动对称性，以其左右扑翼角之差和角速度之差的幅值在运动周期内同时尽可能的小为优化目标，在二者数学模型的基础上构造了综合评价函数，并在机械学与仿生学的约束条件下利用模式搜索法进行了优化设计。所得研究成果为提高同类型驱动机构的运动对称性提供了理论指导，对其它类型的扑翼驱动机构也有很好的借鉴意义。 在鸟类、昆虫扑翼飞行的生物学原理研究基础上，从合力作用与分解的角度提出了一种气动力对微扑翼飞行器作用的机理，解释了微扑翼飞行器在试飞过程中倾斜栽落的力学原因。同时根据该机理和条带理论计算了微扑翼飞行器作一维拍动时上下方向受到的气动力，最后将计算结果与风洞实验所得到的升力曲线进行了比较，二者的结果比较接近。 在ADAMS中建立了微扑翼飞行器的整机仿真模型，将上面气动力计算结果加载到仿真模型机翼上，仿真得到了动力学状态下两翼扑动角速度曲线图，为将来该驱动机构提高自身运动对称性的动力学优化奠定了一定的基础。 在前人研究工作的基础上，提出了以翼展为基本参数的微扑翼飞行器的仿生学设计公式，接着对微扑翼飞行器的总体构成和各子系统的设计制作进行了说更多还原

【Abstract】 Flapping-wing micro air vehicles (FMAV) are new conceptual air vehicles that mimic the flying modes of birds and insects. They have the advantages of small sizes, light weights, low costs, good stealth abilities and high maneuverability, and widely used in the fields of military and civil application. The study of bionics and aerodynamics indicates that the MAV which the characteristic dimension almost equate to bird or insect, the flapping flight is precede to fixed and rotatory MAV.FMAV with driving mechanisms of single-crank-and-double-rocker often tilt toward the left or the right and fall in the course of flight and this is mainly caused by the incomplete symmetry of the wings’ movement. The object of study in the paper is FMAV that have driving mechanisms of single-crank and double-rocker. The paper combined aerodynamics achievement and the structure and movement of FMAV, and launched the work surrounding the goal of enhancing the symmetry of the wings’ movement. The paper took modeling, simulation and optimization and so on as research method.The wings of FMAV are usually fixed in driving mechanisms’ rockers, and the flapping flight is due to different driving mechanisms. In other words, different flights need different driving mechanisms. The driving mechanisms are the key component of FMAV, and they also demonstrate the figure action of flight. Considering the phenomena and the importance of driving mechanisms to FMAV, both mathematics models and simulation model of the driving mechanism were established. The curves of simulation were consistent with the curves of corresponding mathematical models, which verified both the mathematics models and the simulation model were correct. In order to enhance the movement symmetry of the single-crank-and-double-rocker driving mechanism, the comprehensive estimate function was constructed based on the mathematics models of the margins of the flapping-angle and the margins of angular speed. Then an optimization was carried on to the comprehensive estimate function using Hooke-Jeeves method under the restraint conditions of mechanics and bionics. The results of the optimization are helpful to both the same kinds of driving mechanisms and the other kinds of driving mechanisms.Based on the biological flight mechanism of birds and insects, a new mechanism of FMAV affected by forces was proposed in view of composition of forces, and the更多还原