风场环境中扑翼机器人的滑翔轨迹优化  

Trajectory optimization of a flapping-wing robot in a wind field

作　　者：吴晓阳 张志国 贺威[1,2,3] 覃京燕[1,2,3] 张俊海[2,3,4] 孟亭亭 WU Xiaoyang;ZHANG Zhiguo;HE Wei;QIN Jingyan;ZHANG Junhai;MENG Tingting(School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China;Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;Key Laboratory of Intelligent Bionic Unmanned Systems(Ministry of Education),University of Science and Technology Beijing,Beijing 100083,China;School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学智能科学与技术学院,北京100083 [2]北京科技大学人工智能研究院,北京100083 [3]北京科技大学智能仿生无人系统教育部重点实验室,北京100083 [4]北京科技大学机械工程学院,北京100083

出　　处：《工程科学学报》2025年第4期809-823,共15页Chinese Journal of Engineering

基　　金：国家自然科学基金资助项目(62225304,62427813,62103038)。

摘　　要：信天翁可以利用海面的梯度风场实现无动力滑翔上千公里.这种风能利用行为对采用相似飞行方式的扑翼机器人非常有借鉴价值.为探究扑翼机器人实现风能利用的可能性,本文针对信天翁等鸟类特有的大展弦比、高升阻比等滑翔特性,对自主开发的仿生扑翼机器人进行滑翔性能改进.并根据风能利用研究的模态切换需求,基于棘轮止动机构和扑动相位检测器设计了一种扑动/滑翔模态切换装置.然后,对改进后的仿生扑翼机器人进行气动仿真,得到不同迎角下的升阻力系数.并结合梯度风场模型和滑翔姿态运动学模型开展轨迹优化研究,得到仿生扑翼机器人不同航迹角下的最优滑翔轨迹.最后,选取-30°、0°、30°和60°航迹角对应轨迹的在真实风场中进行飞行实验.实验结果表明相同距离下滑翔飞行能耗显著低于扑动飞行,证明扑翼机器人在梯度风场中可以通过合理的规划滑翔轨迹实现风能利用,提升自身续航能力.Owing to wave obstruction,the speed of the horizontal wind field decreases as it approaches the sea surface.Consequently,the wind field that increases with height is referred to as a gradient wind field.On the sea surface,albatrosses exploit this gradient wind field to glide efficiently,enabling them to fly thousands of kilometers using wind energy.As an emerging class of bionic flying robots,flapping-wing robots mimic birds’flying methods.This wind energy utilization behavior holds significant potential for flapping-wing robots,offering a promising solution to address their current endurance limitations.To utilize wind energy effectively,albatrosses rely on their exceptional gliding characteristics.This study replicates the aerodynamic features of albatrosses,including their high aspect ratio and superior lift-to-drag ratio,to enhance the performance of the independently developed flapping-wing robot,USTB-Hawk.Given that the improved flapping-wing robot must transition between flapping flight mode and gliding flight mode,this paper also introduces a mode-switching mechanism.This mechanism,based on a ratchet stop system and a flapping phase detector,ensures stability in the gliding posture during flight experiments.In addition to aerodynamic characteristics,albatrosses primarily exploit wind energy by continuously ascending and descending within the gradient wind field,achieved through efficient planning of their gliding trajectory.To simulate the gliding trajectory of the improved flapping-wing robot,it is essential to determine its aerodynamic characteristics in gliding posture,including lift and drag data across different angles of attack.This study conducts fluid mechanics simulations on the improved flapping-wing robot.In the simulation,the robot’s design is simplified,with some complex structures removed,to reduce computational costs and model complexity.The results indicate that the gliding posture of the flapping-wing robot avoids a stall state within an angle of attack range of-10°-20°.In addition,

关 键 词：扑翼飞行机器人 梯度风场 轨迹优化 动态滑翔 风能利用 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]