Research On Wind Tunnel Experimental Method And Application Of Flapping-Wing Micro Air Vehicle

Flapping-wing flight is a familiar but also a complicated flight mode.As the development of MAV(Micro Air Vehicle),flapping-wing flight has began to re-enter people's vision.Although a few FMAVs(Flapping-Wing MAVs)have been successfully tested,there are still many flapping flying mysteries waiting to be explored,and the wind tunnel experiment is an important means.Compared with the wind tunnel experiment of fixed-wing MAV,the wind tunnel experiment of flapping-wing MAV has many characteristics,such as exact requirement for flow field,difficulty in motion simulation,difficulty in measurement and control,complicated data processing and large data volume.In this thesis,the wind tunnel experiment method of FMAV is taken as the research subject,and a measurement and control system is set up.The research about data processing method,performance detection,deformation measurement method and complex motion simulation is carried out.The established experimental system successfully applys to the project research,and effectively promotes FMAV research.Based on the characteristics and requirements of the FMAV wind tunnel experiment,a hardware environment experiment based on high precision variable amplitude flapping mechanism is established.According to the requirement of flapping wing experiment,three flapping mechanisms are designed and manufactured,which has high precision and variable amplitudes.The mesearment of flapping wing parameters are established,including the energy characteristic,the flapping regularity and the torque at wing root.Finally,based on the C-RIO real-time system,the system integration is carried on to all hardware equipments for measure and control.The hardware environment of FMAV wind tunnel experiment is constructed.The software environment of FMAV wind tunnel experiment is studied and established.Based on the hardware environment,three software platforms including PC,C-RIO and FPGA are built under the environment of virtual instrument Lab VIEW.Programs in five aspects are designed,including FPGA program,C-RIO program,PC program,data communication program between FPGA and C-RIO,data communication program between C-RIO and PC.Finally a FPGA project manager is constructed,and a functional,easy to operate,modular,clear human-computer interaction interface is designed.The experimental method and the data processing method of FMAV wind tunnel experiment are studied in this thesis,and the measure and control performance of the experimental system is tested.Combining with the characteristics of FMAV experiment,the experimental method combining orthogonal experiment design and comprehensive experiment is put forward.Some data processing methods for FMAV experiment are studied,including filtering processing,separation between inertia force and aerodynamic force,and the calculation method of input power.Finally,the measure and control performance is tested by zero drift test,static loading test,dynamic loading test and calibration test of each sensor.The test results show that the control and measure performance can meet the requirement of FMAV experiment.The aerodynamic characteristics of a FMAV with flapping/gliding ability are studied by using the established wind tunnel experimental system.The aerodynamic characteristics of the flapping wings in gliding and flapping are analyzed.And the power characteristics of the flapping wing are studied.The experimental results show that the experimental system has played a good role in the specific FMAV wind tunnel experiment,and the function and performance can meet the requirement of FMAV experiment.As an effective and reliable research method,the established wind tunnel experiment system provides a lot of research data for the design of FMAV,and as part of the research results,it helps the team to develop a type of flapping/gliding FMAV,which won the first prize of Science and Technology Invention in Shaanxi Province in 2016.The deformation measurement method is studied.First,a method based on high-speed camera system is studied,which can compute the spatial coordinate of the experimental model by the correlation processing technique of digital image,and the deformation of flapping-wing model is obtained by data processing.This method can provide a continuous measurement during several flapping cycle.Then for the defect of the first method,a spectroscope is designed and production,which can achieve a camera as “two cameras” effect.Through the use of flash,the measurement capability of the system is greatly enhanced.Finally,a non-image processing-based deformation measurement method is studied,which is highly targeted.Finally,two new experimental methods for FMAV are studied,which are proposed to solve the problems of flow field,wall interference and motion simulation in FMAV wind tunnel experiment.An experimental platform and a two-degree-freedom attitude control platform are designed.