微型旋翼飞行体自适应气动外形抗扰动特性研究
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摘要
鉴于微型飞行器小尺寸、低质量、小惯性、低雷诺数、低速飞行等特点，阵风或是复杂气流对飞行稳定性影响较为突出，而目前可以作为借鉴或参考的抗扰动计算方法和理论体系尚不完善。本文在对微型飞行器抗扰动气动布局以及自适应气动特性研究的基础上，提出了一种具有柔性气动布局的微型旋翼飞行体试验模型，分别从数值模拟、可视化测试、理论构建等方面对微型飞行体自适应气动外形抗气流扰动特性进行了研究与实现，为今后具有柔性气动布局的微型旋翼飞行体设计奠定理论基础。主要研究内容和创新点如下：
基于多物理场信息传递和流固耦合作用的有限元数值模拟方法，完成了具有相同气动布局参数的柔性气动外形和刚性气动外形的对比性试验，分别对绕流流场分布、自适应变形以及气动力参数等方面进行试验观察与对比，结果显示具有柔性气动布局的微型旋翼飞行体表现出较好的气动特性。引入拉格朗日运动方程对具有柔性气动布局的微型旋翼飞行体稳定性进行分析和评价，完成多因素正交试验设计，确定影响稳定性关键因素以及柔性气动外形的最优化布局，为下一步试验样机的构建提供设计依据。
构建了具有柔性气动布局的微型旋翼飞行体试验样机和气流扰动仿真测试实验系统，提出不依赖高帧频影像设备的基于频闪成像原理的微型旋翼飞行体柔性气动外形三维可视化视觉检测方法。提取基于尺度不变性和旋转不变性的表面纹理特征实现柔性气动外形空间运动信息的提取，采用三角形控制网格细分算法实现柔性气动外形的三维可视化呈现，在测试系统误差分析基础上给出了相应的解决方案。完成了微型旋翼飞行体柔性气动外形的抗扰动实验测试，获取气流扰动作用下气动外形运动学参数、形态结构、弹性变形等抗扰动信息。
对不同气动布局设计的微型旋翼飞行体气动外形进行数学建模，结合频闪成像立体视觉气动外形抗气流扰动测试结果与飞行稳定性分析，建立起气动布局参数与影响稳定性因素之间的函数方程，最终给出微型旋翼飞行体自适应气动外形抗气流扰动机理，为今后在微型旋翼飞行体样机设计阶段改善其稳定性能、提高抗扰动能力提供理论依据。
Due to the fact that micro air vehicles have small-scale, low weight, low inertia,small Reynolds number and low flight speed, their flight stability is more sensitive towind gust as well as complex atmosphere flow. However, currently the analytical andcomputational approach about disturbance rejection technology has not beencompletely established. Based on the detailed study of anti-disturbance aerodynamicdesign and self-adaptive aerodynamic characteristics of micro air vehicles, the thesishas proposed a hovering flying model with a flexible aerodynamic shape. Theanti-disturbance performance of its flexible aerodynamic shape has been discussedand implemented by numerical simulation, experimental study and theoreticalderivation respectively, which is a significant contribution to the flexible aerodynamiclayout design of hovering flying vehicles in the future.
The major research contents and innovations of the thesis are summarized asfollows:
The FEM numerical analysis based on a multi-field information transmission andfluid-structure interaction has been utilized to calculate the unsteady aerodynamiccharacteristics. Through the comparative trials of flexible aerodynamic shape andrigid aerodynamic shape, in which both research models have the same layout designand structural parameters, the differences in terms of flow field distribution, adaptiveelastic deformation and aerodynamic forces have been found. It has been showed thatthe hovering flying model with a flexible aerodynamic layout has better aerodynamiccharacteristics and flight performance. The Lagrange equation of motion has beeninvestigated and based on this the method of improving the flight performance isproposed. In order to find the most significant influence factors and the optimaldesigned aerodynamic layout, an orthogonal experimental design and related analysisare presented.
The experimental prototype of the hovering flying object with a flexibleaerodynamic shape and the experimental environment with simulation and detectionfunctions have been built. Instead of using high frame rate imaging equipment, theproposed3D visualization detection method is based on a stroboscopic imagingtechnique to record the information of the flexible aerodynamic shape. The scale invariant feature transform (SIFT) features are extracted from left and rightstroboscopic images to realize space information acquisition. The flexibleaerodynamic shape is represented by triangle mesh subdivision algorithm usingextracted SIFT features as control vertex. Given system error analysis andcorresponding solutions, the experimental measurement for anti-disturbanceperformance of the flying prototype is completed in the thesis to acquirethree-dimensional information of its flexible aerodynamic shape in terms of kineticparameters, morphology structure and elastic deformation.
Based on various aerodynamic layout designs of the hovering flying object, amathematical surface model of the aerodynamic shape has been established. Theapproach to improving the flight stability of the flying model has been analysed.Combined with subdivision surface resulted from the aerodynamic shape’s3Dvisualization measurement, the relationship between aerodynamic layout andinfluence factors on the stability performance has been constructed. Theanti-disturbance mechanism of the hovering flying model is deduced to providereferences for the improvement of flight stability and the enhancement ofanti-disturbance performance during the hovering flying model’s design process.
基于多物理场信息传递和流固耦合作用的有限元数值模拟方法，完成了具有相同气动布局参数的柔性气动外形和刚性气动外形的对比性试验，分别对绕流流场分布、自适应变形以及气动力参数等方面进行试验观察与对比，结果显示具有柔性气动布局的微型旋翼飞行体表现出较好的气动特性。引入拉格朗日运动方程对具有柔性气动布局的微型旋翼飞行体稳定性进行分析和评价，完成多因素正交试验设计，确定影响稳定性关键因素以及柔性气动外形的最优化布局，为下一步试验样机的构建提供设计依据。
构建了具有柔性气动布局的微型旋翼飞行体试验样机和气流扰动仿真测试实验系统，提出不依赖高帧频影像设备的基于频闪成像原理的微型旋翼飞行体柔性气动外形三维可视化视觉检测方法。提取基于尺度不变性和旋转不变性的表面纹理特征实现柔性气动外形空间运动信息的提取，采用三角形控制网格细分算法实现柔性气动外形的三维可视化呈现，在测试系统误差分析基础上给出了相应的解决方案。完成了微型旋翼飞行体柔性气动外形的抗扰动实验测试，获取气流扰动作用下气动外形运动学参数、形态结构、弹性变形等抗扰动信息。
对不同气动布局设计的微型旋翼飞行体气动外形进行数学建模，结合频闪成像立体视觉气动外形抗气流扰动测试结果与飞行稳定性分析，建立起气动布局参数与影响稳定性因素之间的函数方程，最终给出微型旋翼飞行体自适应气动外形抗气流扰动机理，为今后在微型旋翼飞行体样机设计阶段改善其稳定性能、提高抗扰动能力提供理论依据。
Due to the fact that micro air vehicles have small-scale, low weight, low inertia,small Reynolds number and low flight speed, their flight stability is more sensitive towind gust as well as complex atmosphere flow. However, currently the analytical andcomputational approach about disturbance rejection technology has not beencompletely established. Based on the detailed study of anti-disturbance aerodynamicdesign and self-adaptive aerodynamic characteristics of micro air vehicles, the thesishas proposed a hovering flying model with a flexible aerodynamic shape. Theanti-disturbance performance of its flexible aerodynamic shape has been discussedand implemented by numerical simulation, experimental study and theoreticalderivation respectively, which is a significant contribution to the flexible aerodynamiclayout design of hovering flying vehicles in the future.
The major research contents and innovations of the thesis are summarized asfollows:
The FEM numerical analysis based on a multi-field information transmission andfluid-structure interaction has been utilized to calculate the unsteady aerodynamiccharacteristics. Through the comparative trials of flexible aerodynamic shape andrigid aerodynamic shape, in which both research models have the same layout designand structural parameters, the differences in terms of flow field distribution, adaptiveelastic deformation and aerodynamic forces have been found. It has been showed thatthe hovering flying model with a flexible aerodynamic layout has better aerodynamiccharacteristics and flight performance. The Lagrange equation of motion has beeninvestigated and based on this the method of improving the flight performance isproposed. In order to find the most significant influence factors and the optimaldesigned aerodynamic layout, an orthogonal experimental design and related analysisare presented.
The experimental prototype of the hovering flying object with a flexibleaerodynamic shape and the experimental environment with simulation and detectionfunctions have been built. Instead of using high frame rate imaging equipment, theproposed3D visualization detection method is based on a stroboscopic imagingtechnique to record the information of the flexible aerodynamic shape. The scale invariant feature transform (SIFT) features are extracted from left and rightstroboscopic images to realize space information acquisition. The flexibleaerodynamic shape is represented by triangle mesh subdivision algorithm usingextracted SIFT features as control vertex. Given system error analysis andcorresponding solutions, the experimental measurement for anti-disturbanceperformance of the flying prototype is completed in the thesis to acquirethree-dimensional information of its flexible aerodynamic shape in terms of kineticparameters, morphology structure and elastic deformation.
Based on various aerodynamic layout designs of the hovering flying object, amathematical surface model of the aerodynamic shape has been established. Theapproach to improving the flight stability of the flying model has been analysed.Combined with subdivision surface resulted from the aerodynamic shape’s3Dvisualization measurement, the relationship between aerodynamic layout andinfluence factors on the stability performance has been constructed. Theanti-disturbance mechanism of the hovering flying model is deduced to providereferences for the improvement of flight stability and the enhancement ofanti-disturbance performance during the hovering flying model’s design process.
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