仿生撲翼飛行器能耗研究進展

趙民; 張祥; 付強; 張春華; 賀威

doi:10.13374/j.issn2095-9389.2022.05.17.003

仿生撲翼飛行器能耗研究進展

doi: 10.13374/j.issn2095-9389.2022.05.17.003

趙民^{1, 2,},
張祥^{1, 2},
付強^{1, 2, ,},
張春華³,
賀威^{1, 2}

1.
北京科技大學智能科學與技術學院，北京 100083
2.
北京科技大學人工智能研究院，北京 100083
3.
中國兵器裝備集團自動化研究所有限公司，綿陽 621000

基金項目: 國家自然科學基金資助項目（62173031,61933001,62073031）；北京科技大學中央高校基本科研業務費專項資金資助項目（FRF-TP-19-001C2）

詳細信息

通訊作者:
E-mail: fuqiang@ustb.edu.cn

中圖分類號: TP242.6
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- 文章訪問數: 899
- HTML全文瀏覽量: 363
- PDF下載量: 134
- 被引次數: 0
出版歷程
- 收稿日期: 2022-05-17
- 網絡出版日期: 2022-06-14
- 刊出日期: 2022-12-01

Research progress on the energy consumption of bionic flapping-wing aerial vehicles

ZHAO Min^{1, 2
,},
ZHANG Xiang^{1, 2},
FU Qiang^{1, 2
, ,},
ZHANG Chun-hua³,
HE Wei^{1, 2}

1.
School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
2.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China
3.
Automation Research Institute Co. Ltd., China South Industries Group Corporation, Mianyang 621000, China

More Information

Corresponding author: E-mail: fuqiang@ustb.edu.cn

摘要

摘要: 自然界中飛行生物利用肌肉、骨骼等結構的協同作用實現靈活、敏捷的飛行，具有撲動、懸停、滑翔等多種飛行模式。仿生撲翼飛行器是模擬鳥類和昆蟲等飛行模式的一類飛行器，通過機翼的周期性上下撲動產生飛行所需的升力和推力，具有隱蔽性好、能效高和飛行噪聲小等優點，得到了各研究機構的廣泛關注。由于撲翼飛行器自身的負載能力較小，很難攜帶大容量的電池，導致其續航時間有限。研究新型輕質高能量密度的電池和高仿生設計實現續航時間的提升，是撲翼飛行器重要的研究方向。但是，針對撲翼飛行器新型電池的研究還處于初級研發階段，尚不具備機載飛行測試的能力。研究人員從仿生機理分析、機構優化設計以及控制策略研究等方面入手，針對撲翼飛行器能耗問題開展了大量研究，并取得了階段性成果。總結了有關仿生撲翼飛行器能耗方面的研究進展，分析了靜態參數、動態參數和控制策略等對仿生撲翼飛行器能耗的影響，提出了降低能耗的措施，并對未來研究方向做出了展望。
- 撲翼飛行器 /
- 飛行生物 /
- 飛行模式 /
- 能耗 /
- 仿生設計
Abstract: Natural flyers use muscles, bones, and other structures in coordination to attain agile and nimble flight performance. They can fly in various complex environments through different flight modes, such as flapping, hovering, and gliding. The high-lift mechanism on flapping-wing flights plays a fundamental role in bionic flapping-wing aerial vehicle design. Bionic flapping-wing aerial vehicles operate in modes that mimic birds and insects. They rely on flapping wings to generate the lift and thrust required for flight. With the advantages of good concealment, high energy efficiency, and low flying noise, flapping-wing aerial vehicles have great potential in performing civil and military tasks. In the civil field, they can go deep into different complicated, unknown environments and perform environmental monitoring, rescue missions, and other special tasks that are difficult for human beings to complete. In the military field, they can replace human beings to complete covert reconnaissance and search tasks and play an important role in maintaining regional stability and preventing military invasions. Because of their broad application prospects, flapping-wing aerial vehicles have drawn considerable attention from researchers. Inspiration from the distinct features of natural flyers has influenced flapping-wing aerial vehicle design. Many attempts have been made to improve flapping-wing aerial vehicle performance. Because flapping-wing aerial vehicles have a small payload, they carry large-capacity batteries with difficulty, resulting in limited endurance. Under limited energy, the endurance time of flapping-wing aerial vehicles can be effectively increased by reducing energy consumption. An important research direction of flapping-wing aerial vehicles is to improve endurance by developing high energy density batteries and bionic design. Starting from bionic mechanism analysis, mechanism optimization design, and control strategy research, designers and engineers have conducted much research on the energy consumption of flapping-wing aerial vehicles, and achievements have been made frequently. However, their flight efficiency is still far from their natural counterparts. Many challenges remain in the bionic mechanism, fabrication, and autonomous flight of flapping-wing aerial vehicles. This paper summarizes the research progress on the energy consumption of bionic flapping-wing aerial vehicles. We discuss the main components of flapping-wing aerial vehicle energy consumption. Then, we analyze the effects of static parameters, dynamic parameters, and control strategies on the energy consumption of flapping-wing aerial vehicles. The energy consumption improvements of flapping-wing aerial vehicles with different parameter designs are compared. Finally, we propose measures to reduce energy consumption and discuss future research directions.
- flapping-wing aerial vehicle /
- natural flyer /
- flight mode /
- energy consumption /
- bionic design

HTML全文

圖 1 生物翅膀結構. (a) 鳥類^[28]; (b) 昆蟲^[29]

Figure 1. Structure of biological wings: (a) birds^[28]; (b) insects^[29]

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圖 2 鳥類撲翼飛行一個周期的分解圖^[32]. （a）～（f）為下撲階段; （g）～（l）為上撲階段

Figure 2. Decomposition of flapping wing movements in birds^[32]: （a）?（f）show the downstroke of flapping motion; （g）?（l）show the upstroke of flapping motion

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圖 3 能耗/效率隨頻率的變化圖^[45]. (a) 電機消耗的電能隨頻率變化; (b) 效率因數η隨頻率變化

Figure 3. Energy consumption and efficiency curve with the frequency of a flapping wing^[45]: (a) electrical power consumed by the motor and (b) efficiency factor η as a function of frequency

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圖 4 壓電驅動和太陽能驅動飛行器. (a) Microfly^[46]; (b) Robobee X-Wing^[6]

Figure 4. Wing drive by piezoelectric materials or solar energy: (a) Microfly^[46] ; (b) Robobee X-Wing^[6]

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圖 5 采用輔助供電系統延長續航. (a) 壓電薄膜翅膀^[47]; (b) 太陽能回收機翼^[48]

Figure 5. Auxiliary power supply system to improve endurance: (a) piezoelectric thin film material wings^[47]; (b) solar recovery wing^[48]

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圖 6 仿生開閉機制^[49]. (a) 單向孔機翼模型; (b) 羽毛機翼和薄膜機翼

Figure 6. Bionic opening and closing mechanism^[49]: (a) model of the wing with one-way holes; (b) feather-covered flapping-wing and membrane wing

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圖 7 帶彈性阻尼結構的驅動結構^[66]

Figure 7. Drive structure with elastic element^[66]

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圖 8 帶柔性儲能元件的驅動機構^[67-68]. (a) 哈佛大學微型撲翼飛行器; (b) 四連桿傳動機構; (c) 南洋理工大學的微型撲翼飛行器; (d) 聚酰亞胺薄膜鉸鏈彈性勢能存儲元件

Figure 8. Drive mechanism with flexible energy storage element^[67-68]: (a) flapping-wing micro air vehicle of Harvard University; (b) transmission forming a four-bar; (c) flapping-wing micro air vehicle of Nanyang Technological University; (d) polyimide film hinges for elastic energy storage

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圖 9 Smartbird機翼被動彎折結構

Figure 9. Wing structure of Smartbird

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圖 10 戶外飛行能力測試^[79]. (a) 傾斜轉彎; (b) 爬升; (c) 快速滾轉機動飛行

Figure 10. The ability test for outdoor flight ^[79]: (a) banking turn; (b) climb; (c) rapid rolling maneuver

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圖 11 四旋翼混合布局的撲翼飛行器研制^[80]. (a) 風洞實驗裝置; (b) 四旋翼混合布局的撲翼飛行器原型機

Figure 11. Design of the hybrid layout flapping-wing air vehicle^[80]: (a) experimental setup for the wind tunnel experiment; (b) prototype of the four-rotor hybrid layout flapping-wing air vehicle

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