扑翼微型飞行器翼杆惯性载荷识别  

Wing Rod Inertial Load Identification of Flapping-wing Micro-aerial Vehicle

作　　者：孙世祥 徐塬皓 张雨浓 吴江浩[1] 杜锋 SUN Shixiang;XU Yuanhao;ZHANG Yunong;WU Jianghao;DU Feng(Department of Transportation Science and Engineering,Beihang University,Beijing 102206,China;Beijing Aerospace Technology Research Institute,Beijing 100071,China)

机构地区：[1]北京航空航天大学交通科学与工程学院,北京102206 [2]北京空天技术研究所,北京100071

出　　处：《无人系统技术》2023年第3期91-102,共12页Unmanned Systems Technology

基　　金：国家自然科学基金(12072013)。

摘　　要：针对扑翼微型飞行器的弹性翼杆,通过其变形特征来识别其受载行为,建立扑翼载荷识别方法。以裸翼杆的往复拍动为对象,首先基于机器视觉测量法,根据翼杆形貌提取翼杆变形挠度,其次使用幂级数重构分布载荷和Tikhonov正则化方法求解惯性载荷,最后通过批量处理,得到翼杆运动过程中的惯性载荷分布。实验表明,翼杆的平均最大分布载荷为30 N·m^(-1),识别挠度的平均相对误差为3×10^(-5),识别角位移曲线上所有幅值点的平均相对误差为14.8%,识别周期没有偏差,识别的载荷在不同周期内的分布一致。结果表明该方法具有良好的可靠性和实用性,有望用于对带膜扑翼的气动力测试。In this paper,the deformation characteristics of the elastic wing rod of a flapping-wing microaerial vehicle is used to identify the loading properties on the rod.Aimed to the reciprocating flapping of the bare wing rod,based on wing rod morphology,the deflection of the wing rod is extracted through the machine vision measurement method firstly.Then,followed by power series reconstruction of the distributed load and the Tikhonov regularization method,the inertial load distribution on the rod is elucidated.Finally,through batch processing,the inertial load distribution is revealed as a function of flapping time.The experiments show that the average maximum distributed load of the wing rod is 30 N·m^(-1).The average relative error of the identified deflection is 3×10^(-5) and the average relative error of the identified flapping amplitude is 14.8%,whereas there is no deviation to the flapping period.The distribution of the identified load is consistent over those different flapping cycles.All these results demonstrate that this method has good reliability and practicability,and is expected to be used for aerodynamic load identification of‘real’flapping wings.

关 键 词：扑翼微型飞行器 非接触式测量 图像处理 正则化 载荷识别 惯性载荷 

分 类 号：V211.7[航空宇航科学与技术—航空宇航推进理论与工程]