| Bionic flapping wing micro air vehicle is a kind of aircraft that uses insects and birds as bionic objects.It has superb flying ability,at the same time,it has the characteristics of small size and high visual concealment.It has an important development prospect and application value in the field of military investigation and public security in the future.This article has conducted in-depth research on the driving mechanism and flexible wing of the micro air vehicle.The main contents include:Based on biomimetic design principle and scale law,the main flapping wing parameters are determined according to the aircraft’s planned requirements,which provides guidelines for the following aircraft’s structure design and system layout.Through the comparison and analysis of driving modes,the compound driving mode of crank rocker poker mechanism driven by micro-motor and steering mechanism of electromagnetic coil is finally selected.The 3D model of the flapping wing prototype is established and optimized.The morphology and characteristics of various insect wings are studied and analyzed.Based on the biological model of cicada wing,the structure design of biomimetic flexible wing is carried out.The contour and main veins of cicada wing are selected as the wing vein frame of flexible wing.Then an inflatable flexible biomimetic wing is put forward innovatively.By replacing the wing vein frame with high-pressure inflatable wing column,the flexible wing has the advantages of small weight and good flexibility,which can also be expanded and contracted by means of air filling and bleeding for easy storage.Make a model for assembling the flapping-wing aircraft,and build the position and attitude mathematical model of the flapping-wing aircraft.Define the Euler angle of the flapping-wing aircraft to represent the motion attitude of the aircraft.Use the position and attitude sensor to collect the attitude data of the aircraft in different flight states and evaluate it.Finally,the aerodynamic characteristics of the flexible wing of the aircraft are studied,and the aerodynamic characteristics under different flapping modes are mainly discussed.It is proved that the flapping wing mode with the "8" shaped wing tip track has better aerodynamic performance.The influence of frequency and phase difference on left and right wing asynchronization is discussed.It is proved that the small phase difference between left and right wing has little effect on the stability of the aircraft at high frequency. |
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