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Acta Mechanica Sinica 2010年第6期26卷 863-879页

作者： Hao Liu Toshiyuki Nakata Na Gao Masateru Maeda Hikaru Aono Wei Shyy Graduate School of Engineering.Chiba University Chiba 263-8522Japan Department of Aerospace Engineering.University of Michigan Ann ArborMI 48109USA Department of Mechanical Engineering The Hong Kong University of Science and TechnologyClear Water Bay.KowloonHong Kong China

Aiming at developing an effective tool to unveil key mechanisms in bio-flight as well as to provide guidelines for bio-inspired micro air vehicles（MAVs） design,we propose a comprehensive computational framework,which integrates aerodynamics,flight dynamics,vehicle stability and *** framework consists of（1） a Navier-Stokes unsteady aerodynamic model;（2） a linear finite element model for structural dynamics;（3） a fluidstructure interaction（FSI） model for coupled flexible wing aerodynamics aeroelasticity;（4） a free-flying rigid body dynamic（RBD） model utilizing the Newtonian-Euler equations of 6DoF motion;and（5） flight simulator accounting for realistic wing-body morphology,flapping-wing and body kinematics,and a coupling model accounting for the nonlinear 6DoF flight dynamics and stability of insect flapping *** are presented based on hovering aerodynamics with rigid and flexible wings of hawkmoth and *** present approach can support systematic analyses of bio- and bio-inspired flight.

关键词： micro air vehicle Bio-flight Computational mechanics Integrative biomechanics

An Improved Evolvable Oscillator and Basis Function Set for Control of an Insect-Scale Flapping-Wing micro air vehicle

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Journal of Computer Science & Technology 2012年第5期27卷 966-978页

作者： John C.Gallagher Michael W.Oppenheimer Department of Computer Science and Engineering Wright State University Control Sciences Branch Air Force Research Laboratory

This paper introduces an improved evolvable and adaptive hardware oscillator design capable of supporting adaptation intended to restore control precision in damaged or imperfectly manufactured insect-scale flapping-wing micro air vehicles. It will also present preliminary experimental results demonstrating that previously used basis function sets may have been too large and that significantly improved learning times may be achieved by judiciously culling the oscillator search space. The paper will conclude with a discussion of the application of this adaptive, evolvable oscillator to full vehicle control as well as the consideration of longer term goals and requirements.

关键词： evolvable and adaptive hardware micro air vehicle evolutionary algorithm

Kinematic and Aerodynamic Modelling of Bi- and Quad-Wing Flapping Wing micro-air-vehicle

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Advances in Aerospace Science and Technology 2016年第3期1卷 83-101页

作者： Harijono Djojodihardjo Alif Syamim S. Ramli Surjatin Wiriadidjaja Azmin Shakrine Mohd Rafie Aerospace Engineering Department Faculty of Engineering Universiti Putra Malaysia Serdang Malaysia

A generic approach to model the kinematics and aerodynamics of flapping wing ornithopter has been followed, to model and analyze a flapping bi- and quad-wing ornithopter and to mimic flapping wing biosystems to produce lift and thrust for hovering and forward flight. Considerations are given to the motion of a rigid and thin bi-wing and quad-wing ornithopter in flapping and pitching motion with phase lag. Basic Unsteady Aerodynamic Approach incorporating salient features of viscous effect and leading-edge suction are utilized. Parametric study is carried out to reveal the aerodynamic characteristics of flapping bi- and quad-wing ornithopter flight characteristics and for comparative analysis with various selected simple models in the literature, in an effort to develop a flapping bi- and quad-wing ornithopter models. In spite of their simplicity, results obtained for both models are able to reveal the mechanism of lift and thrust, and compare well with other work.

关键词： Bi-Wing Ornithopter Flapping Wing Aerodynamics Flapping Wing Ornithopter micro air vehicle Quad-Wing Ornithopter

Human Memory/Learning Inspired Control Method for Flapping-Wing micro air vehicles

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Journal of Bionic Engineering 2010年第2期7卷 127-133页

作者： Garv Lebbv National Institute of Aerospace Hampton

The problem of flapping motion control of micro air vehicles (MAVs) with flapping wings was studied in this *** upon the knowledge of skeletal and muscular components of hummingbird, a dynamic model for flapping wing wasdeveloped.A control scheme inspired by human memory and learning concept was constructed for wing motion control *** salient feature of the proposed control lies in its capabilities to improve the control performance by learning fromexperience and observation on its current and past behaviors, without the need for system dynamic ***,the overall control scheme has a fairly simple structure and demands little online computations, making it attractive for real-timeimplementation on *** theoretical analysis and computer simulation confirms its effectiveness.

关键词： flapping wing micro air vehicle bio-inspired memory-based control

Passive attitude stabilization of ionic-wind-powered micro air vehicles

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Chinese Journal of Aeronautics 2023年第7期36卷 412-419页

作者： Hengyu ZHANG Jiaming LENG Zhiwei LIU Mingjing QI Xiaojun YAN School of Energy and Power Engineering Beihang UniversityBeijing 100191China

The ionic-wind-powered micro air vehicles(MAVs)can achieve a higher thrust-toweight ratio than other ***,this kind of MAV has not yet achieved controlled flight because of the unstable thrust produced by the ionic wind and the dynamic instability related to the small *** this paper,a passive attitude stabilization method of the ionic-wind-powered MAV using air dampers is *** key factors that influence the performance of the air dampers,including the layout,position,and area of the air dampers,are theoretically *** appropriate optimal position of the air dampers is also obtained by Monte Carlo stochastic *** the proposed passive attitude stabilization method is applied to the ionic-wind-powered MAVs of different wingspan(2 cm and 6.3 cm).Finally,the experimental results show that using the proposed method,attitude stabilization is achieved for the first time for the ionic-wind-powered ***,the altitude control of an ionic-wind-powered MAV with a wingspan of 6.3 cm is also demonstrated.

关键词： air dampers Altitude control Ionic wind propulsion micro air vehicle Monte Carlo methods Stability

Unsteady Aerodynamic Forces and Power Consumption of a micro Flapping Rotary Wing in Hovering Flight

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Journal of Bionic Engineering 2018年第2期15卷 298-312页

作者： Chao Zhou Yanlai Zhang Jianghao Wu School of Transportation Science and Engineering Beihang University Beijing 100191 China

The micro Flapping Rotary Wing （FRW） concept inspired by insects was proposed recently. Its aerodynamic performance is highly related to wing pitching and rotational motions. Therefore, the effect of wing pitching kinematics and rotational speed on unsteady aerodynamic forces and power consumption of a FRW in hovering flight is further studied in this paper using computational fluid dy- namics method. Considering a fixed pitching amplitude （i.e., 80°）, the vertical force of FRW increases with the downstroke angle of attack and is enhanced by high wing rotational speed. However, a high downstroke angle of attack is not beneficial for acquiring high rotational speed, in which peak vertical force at balance status （i.e., average rotational moment equals zero.） is only acquired at a comparatively small negative downstroke angle of attack. The releasing constraint of pitching amplitude, high rotational speed and enhanced balanced vertical force can be acquired by selecting small pitching amplitude despite high power consumption. To confirm which wing layout is more power efficient for a certain vertical force requirement, the power consumed by FRW is compared with the Rotary Wing （RW） and the Flapping Wing （FW） while considering two angle of attack strategies without the Reynolds number （Re） constraint. FRW and RW are the most power efficient layouts when the target vertical force is produced at an angle of attack that corresponds to the maximum vertical force coefficient and power efficiency, respectively. However, RW is the most power efficient layout overall despite its insufficient vertical force production capability under a certain Re.

关键词： micro air vehicle flapping rotary wing aerodynamic forces power consumption computational fluid dynamics

Aerodynamic performance of hovering micro revolving wings in ground and ceiling effects at low Reynolds number

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Chinese Journal of Aeronautics 2023年第1期36卷 152-165页

作者： Jinjing HAO Yanlai ZHANG Chao ZHOU Songtao CHU Jianghao WU School of Transportation Science and Engineering Beihang UniversityBeijing 100083China

Numerous investigations have been conducted to understand the wall effects on *** purpose of this study is to further investigate the aerodynamic performance of revolving wings,especially when it is very close to the ground and ceiling(i.e.,less than half the wingspan)at low Reynolds ***,the ground and ceiling effect for hovering micro revolving wings at low Reynolds numbers are investigated by improving the theoretical *** theoretical model for the ground effect is established based on the wall-jet assumption,and that for the ceiling effect is improved by considering the uneven spanwise distribution of induced *** two models are validated by comparing the results of experiments and CFD simulations with the Lattice-Boltzmann Method(LBM).Both ground and ceiling effects are found helpful to enhance the thrust,especially with small wing-wall distances,by making a difference to the induced velocity and the pressure *** comparing the thrust generation and aerodynamic efficiency between the ground and ceiling effects,the former is found more helpful to the thrust augmentation,and the latter is more beneficial for the aerodynamic efficiency promotion.

关键词： Ceiling effect Flapping wing Ground effect micro air vehicle Revolving wing

Guiding micro air vehicles to Reach Targets

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Guiding Micro Air Vehicles to Reach Targets

An Investigation of Electrically Powered micro air vehicles

第三届国际仪器科学技术学术研讨会

作者： ZHU Rong ZHOU Zhao-ying Department of Precision Instruments and Mechanology Tsinghua University Beijing 100084 China

micro air vehicle (MAV), which is an autonomous or semiautonomous airborne vehicle accomplishing useful missions at affordable cost, has excellent potential utility and attracts growing interest for b

关键词： micro air vehicle trajectory planning and tracking model identification

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An Investigation of Electrically Powered Micro Air Vehicles

Kinematics,Deformation,and Aerodynamics of a Flexible Flapping Rotary Wing in Hovering Flight

第二届仪器科学与技术国际学术研讨会

作者： Huai-yu Wu Zhao-ying Zhoua Dong Sunb Shen-shu Xionga Xiao-hao WangaMEMS Lab Department of Precision Instruments and Mechanology Tsinghua UniversityDepartment of Manufacturing Engineering and Engineering Management City University of Hong Kong

＜正＞ Recent progress in research and development of micro air vehicles （MAVs） in the world is briefly summarized. Two kinds of electrically powered prototype MAVs with a wingspan of less than 38 cm were successfully developed. In particular, TH360 MAV equipped with a payload of a self-made micro color video camera unit was flown more than five minutes, which distinctly transmitted the real-time images of specified objects underneath MAV from onboard camera to the ground station.

关键词： micro air vehicle MAV image video camera fabrication flight test

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Journal of Bionic Engineering 2021年第1期18卷 197-209页

作者： Chao Zhou Jianghao Wu School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China School of Transportation Science and Engineering Beihang UniversityBeijing 100191China

The Flapping Rotary Wing(FRW)is a micro air vehicle wing layout coupling flapping,pitching,and rotating *** can gain bencfits in high lift from a fast passive rotating motion,which is tightly related to the passive pitching motion directly caused by wing flexible ***,flexible deformation is crucial for the wing kinematics and aerodynamic performance of an *** this paper,we explored the effct of flexibility on wing kinematics and acrodynamics on the basis of a mechanical FRW model.A photogrammetric method was adopted to capture motion images according to which wing orientations and deformations were *** acrodynamic force was computed using computational fluid dynamic method,and wing kinematics and deformations were used as simulation *** experimental measurements presented the real orientation and deformation pattem of a real *** wing passive deformation of a high-intensity FRW was found to be mainly caused by inertial force,and a linear positive spanwise twist was observed in the *** effects of wing deformation on aerodynamic force production and the underlying mechanism were *** showed that lift augment,rotating moment enhancement,and power efficiency improvement can be achieved when a wing becomes *** spanwise twist mainly accounts for these changes in aerodynamics,and increment in spanwise twist could further contributes to aerodynamic improvement.

关键词： bionic robot micro air vehicle flapping wing flexibility unsteady aerodynamic twist deformation