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考虑结构柔性的大型仿生扑翼机动力学建模与飞行性能分析
作者:
作者单位:

1.哈尔滨工业大学(深圳)机电工程与自动化学院，深圳 518055;2.广东省智变机构与适应性机器人重点实验室，深圳 518055

通讯作者:

徐文福，男，教授，博士生导师，E-mail：wfxu@hit.edu.cn。

中图分类号:

TP242

基金项目:

国家自然科学基金（62233001）；深圳市优秀科技创新人才培育项目（RCJC20200714114436040）；深圳市基础研究重点项目（JCYJ20241202123724032）。


Dynamic Modeling and Flight Performance Analysis for Large Bionic Ornithopters Considering Structural Flexibility
Author:
Affiliation:

1.School of Mechanical Engineering and Automation， Harbin Institute of Technology (Shenzhen)， Shenzhen 518055， China;2.Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics， Shenzhen 518055， China

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    摘要:

    大型仿生扑翼机（Large bionic ornithopters， LBOs）翅膀在扑动过程中会产生明显的柔性变形，气动特性复杂，其变形情况除受翅膀扑动影响外也与机体运动相关。本文通过耦合有限元方法和有限状态气动方法建立LBOs的翅膀三维气动弹性模型，并将该模型与通过凯恩方程法建立的多体动力学模型结合，搭建了LBOs的飞行动力学模型。该模型考虑了LBOs扑动过程中翅膀的柔性变形与机体运动的影响，能够计算LBOs前飞时的位置和姿态变化情况。通过该模型计算了LBOs前飞时的飞行状态，并与实际飞行实验数据做对比，结果表明该模型可以较好地模拟LBOs的飞行状态，验证了该模型的准确性。

    Abstract:

    The flapping wing of large bionic ornithopters （LBOs） has obvious flexible deformation during the flapping motion， which is difficult for aerodynamic analysis. The deformation is not only affected by the flapping motion， but also related to the body motion of LBOs. This paper establishes a three-dimensional aeroelastic model of the wings of LBOs by coupling the finite element method and the finite state aerodynamic method， and combines the multi-body dynamics model established by the Kane equation method to build the flight dynamics model of LBOs. This model considers the influence of the flexible wing deformation and the body motion during the flapping process of LBOs， and can calculate the position and attitude of LBOs during forward flight. The flight states of LBOs during forward flight are computed by this model and compared with actual flight experiment data. The results show that the model can simulate the flight state of LBOs well， verifying the model’s accuracy.

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徐晖,潘尔振,徐文福,黄海林.考虑结构柔性的大型仿生扑翼机动力学建模与飞行性能分析[J].南京航空航天大学学报,2025,57(3):412-418

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  • 收稿日期:2025-04-01
  • 最后修改日期:2025-05-01
  • 在线发布日期: 2025-06-20
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