昆虫柔性翼的本构关系及静动力特性研究
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摘要
近几年，随着微飞行器概念的提出，人们开始了对昆虫飞行的仿生研究。按照传统空气动力学无法解释昆虫的飞行，目前对昆虫飞行机理的认识正在逐步深入和提高。有学者预计，昆虫飞行的特殊机制包括两点：拍翅模式和柔性变形。昆虫正是通过主动的控制飞行以及翅膀自身的被动变形两者方式的结合来达到优化空气动力性能的目的，并从而实现其高超的飞行技能。本论文围绕这两点，对与其相关的重要问题进行了研究和探讨。从第一手的实验数据以及测量方法着手，对昆虫翅结构、材料、静动力学特性、自由飞行中的拍翅方式及翅膀变形等进行了一些研究。
提出将投栅的办法应用于昆虫翼三维形貌以及静载下变形的测量。采用四步相移法获取位相，可以很好的避免背景和噪声的干扰，特别适合于昆虫翅测量中光照条件不够好的情况。另外，本文采用基于调制度分析的最小二乘位相去包络算法进行位相解调，进一步提高了实验精度。根据静载下变形的测量结果，基于翅膀条杆假设，获得了翅膀扭转刚度沿展向的分布规律。
通过蜻蜓脉的应力松弛实验，验证了蜻蜓翼的粘弹性本构关系，并提出了相应的标准线性固体本构模型，测量了相应的本构特征参数。通过理论推导和数值模拟，说明昆虫翼中具有的粘性项增强了昆虫飞行中的动态刚度，从而避免了昆虫高频飞行中翅膀大变形的出现，起到明显的抗振作用，因此有很好的抗外界干扰能力。通过对蜻蜓翼往复拍动的模拟，发现弹性翼变形幅度过大且有明显的高次谐波出现，明显与真实情况不符；而粘弹性翼的高次谐波影响甚微，很快就可以达到稳定的周期变形，与真实情况符合。因此，粘弹性本构模型是昆虫翼材料属性的合理描述。
本文还使用多普勒测振仪测量了蜻蜓翼的动力学参数，得到固有频率及其对应模态，并根据实验结果简要分析了昆虫翼的结构特征以及柔性变形特点。
介绍了自主开发的由三棱镜实现的虚拟双目立体视觉测量系统，并将其应用于自由飞行蜻蜓的运动参数测量。通过建立昆虫随体坐标系和翅膀坐标系，本方法可以很好地将昆虫飞行的翅膀拍动及变形与身体位置姿态联系起来综合考察，对于观察昆虫飞行规律，探索飞行机理有着很好的应用前景。文章测量了蜻蜓直飞中的运动参数，并对实验结果特别是其反映出的柔性变形特点进行了初步分析和讨论。
提出一种有效建立有限元昆虫模型的方案。该方法回避具体材料和结构特性参数的精确测量，利用上述实验测量获得的昆虫翼各基本综合参数资料，以翼的静动态力学综合表现为衡量标准建立“等效”有限元模型。
Bionic study of insect flight started with the appearance of MAV concept recent years. Traditional aerodynamics cannot explain the mechanism of insect flight, and new aerodynamic is being explored intensively. Some researcher forecast that the reason of insect overcoming aerodynamic limits relies on tow points: flapping and flexibility. Aerodynamical is optimized through the tow special mechanism. This thesis research some important problem related to the tow points: structure of insect wing, material, static and dynamic mechanical properties, flapping mode and wing deformation etc.
Projecting fringe technique is applied to measure 3-d shape and deformation under static load. 4-step phase shift technique is applied to get phase. This technique is very suitable for the measurement of insect's wing, which could be immune of background noise very good. And the modulation analysis based weighted leas-squares approach for phase unwrapping increase the measurement precision.
For the first time, a viscoelastic constitutive relation model related to the deformation of the dragonfly wing was established, that is, the standard linear solid model. Viscosity property of insect wing increase the dynamic stiffness of flapping wing, to avoid the appearance of big deformation while insect flaps its wing in high speed. The FEA results display viscosity property increase insect's anti-vibration function. Viscoelastic model was examined by FEA of dynamic deformation response for a model dragonfly wing under the action of the periodical inertial force in flapping motion, compared with the elastic constitutive relation model at the same time. Results show that the elastic model is not consistent with reality, as the resultant amplitude of elastic deformation is too large, furthermore, considerable higher-frequency components is produced. However, the viscoelastic deformation agrees well with the experiment. As a result, the viscoelastic constitutive relation model is confirmed to be the proper description of the insect wing material.
Doppler vibrometer which is based on the Doppler principle was used to stimulate the wing of dragonfly, recording the frequency curves of speed and getting its natural frequencies and modes .And also, we analyze the experimental results, discussing some characteristcs of the dragonfly's wing structures and flexibility.
A novel and practical stereo camera system which uses only one camera and a biprism in front of the camera is applied to measure the kinematic parameters of free flight dragonfly and obtain many experimental data ,including body position and attitude, wing deformation, flapping angle, torsional angle etc, which will be very useful for the analyses of aerodynamics on insect flight. The flexibility of deformation is investigated spatially.
A new method modeling finite elemental wing model is introduced, which refer to wing's static and dynamic mechanical representation and not get specific and detailed parameters of geometric and material.
提出将投栅的办法应用于昆虫翼三维形貌以及静载下变形的测量。采用四步相移法获取位相，可以很好的避免背景和噪声的干扰，特别适合于昆虫翅测量中光照条件不够好的情况。另外，本文采用基于调制度分析的最小二乘位相去包络算法进行位相解调，进一步提高了实验精度。根据静载下变形的测量结果，基于翅膀条杆假设，获得了翅膀扭转刚度沿展向的分布规律。
通过蜻蜓脉的应力松弛实验，验证了蜻蜓翼的粘弹性本构关系，并提出了相应的标准线性固体本构模型，测量了相应的本构特征参数。通过理论推导和数值模拟，说明昆虫翼中具有的粘性项增强了昆虫飞行中的动态刚度，从而避免了昆虫高频飞行中翅膀大变形的出现，起到明显的抗振作用，因此有很好的抗外界干扰能力。通过对蜻蜓翼往复拍动的模拟，发现弹性翼变形幅度过大且有明显的高次谐波出现，明显与真实情况不符；而粘弹性翼的高次谐波影响甚微，很快就可以达到稳定的周期变形，与真实情况符合。因此，粘弹性本构模型是昆虫翼材料属性的合理描述。
本文还使用多普勒测振仪测量了蜻蜓翼的动力学参数，得到固有频率及其对应模态，并根据实验结果简要分析了昆虫翼的结构特征以及柔性变形特点。
介绍了自主开发的由三棱镜实现的虚拟双目立体视觉测量系统，并将其应用于自由飞行蜻蜓的运动参数测量。通过建立昆虫随体坐标系和翅膀坐标系，本方法可以很好地将昆虫飞行的翅膀拍动及变形与身体位置姿态联系起来综合考察，对于观察昆虫飞行规律，探索飞行机理有着很好的应用前景。文章测量了蜻蜓直飞中的运动参数，并对实验结果特别是其反映出的柔性变形特点进行了初步分析和讨论。
提出一种有效建立有限元昆虫模型的方案。该方法回避具体材料和结构特性参数的精确测量，利用上述实验测量获得的昆虫翼各基本综合参数资料，以翼的静动态力学综合表现为衡量标准建立“等效”有限元模型。
Bionic study of insect flight started with the appearance of MAV concept recent years. Traditional aerodynamics cannot explain the mechanism of insect flight, and new aerodynamic is being explored intensively. Some researcher forecast that the reason of insect overcoming aerodynamic limits relies on tow points: flapping and flexibility. Aerodynamical is optimized through the tow special mechanism. This thesis research some important problem related to the tow points: structure of insect wing, material, static and dynamic mechanical properties, flapping mode and wing deformation etc.
Projecting fringe technique is applied to measure 3-d shape and deformation under static load. 4-step phase shift technique is applied to get phase. This technique is very suitable for the measurement of insect's wing, which could be immune of background noise very good. And the modulation analysis based weighted leas-squares approach for phase unwrapping increase the measurement precision.
For the first time, a viscoelastic constitutive relation model related to the deformation of the dragonfly wing was established, that is, the standard linear solid model. Viscosity property of insect wing increase the dynamic stiffness of flapping wing, to avoid the appearance of big deformation while insect flaps its wing in high speed. The FEA results display viscosity property increase insect's anti-vibration function. Viscoelastic model was examined by FEA of dynamic deformation response for a model dragonfly wing under the action of the periodical inertial force in flapping motion, compared with the elastic constitutive relation model at the same time. Results show that the elastic model is not consistent with reality, as the resultant amplitude of elastic deformation is too large, furthermore, considerable higher-frequency components is produced. However, the viscoelastic deformation agrees well with the experiment. As a result, the viscoelastic constitutive relation model is confirmed to be the proper description of the insect wing material.
Doppler vibrometer which is based on the Doppler principle was used to stimulate the wing of dragonfly, recording the frequency curves of speed and getting its natural frequencies and modes .And also, we analyze the experimental results, discussing some characteristcs of the dragonfly's wing structures and flexibility.
A novel and practical stereo camera system which uses only one camera and a biprism in front of the camera is applied to measure the kinematic parameters of free flight dragonfly and obtain many experimental data ,including body position and attitude, wing deformation, flapping angle, torsional angle etc, which will be very useful for the analyses of aerodynamics on insect flight. The flexibility of deformation is investigated spatially.
A new method modeling finite elemental wing model is introduced, which refer to wing's static and dynamic mechanical representation and not get specific and detailed parameters of geometric and material.
引文
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