Flapping-wing air vehicle with one-way valve and lift force adjusting method of flapping-wing air vehicle
By designing a one-way valve structure on a bird-inspired flapping-wing aircraft, the aerodynamic characteristics are optimized, and the lift and flight efficiency of the flapping-wing aircraft are improved, simulating the extension and contraction of bird wings and the changes in feathers.
Patent Information
- Application Number
- CN202510945851.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-09
- Publication Date
- 2025-11-14
AI Technical Summary
Existing bird-inspired flapping-wing flying robots struggle to effectively mimic the morphological changes of bird wings and feathers at different stages of flight, resulting in insufficient aerodynamic performance optimization and an inability to fully leverage their unique flight advantages.
Design a flapping-wing aircraft equipped with a one-way valve. The one-way valve opens during the upstroke and closes during the downstroke to simulate the folding of bird wings and the unfolding and tightening of feathers. The aerodynamic characteristics can be optimized by changing the wing area.
It effectively increases the average lift of flapping-wing aircraft, reduces negative lift, and improves flight efficiency and aerodynamic performance.
Smart Images
Figure CN120942552A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of biomimetic flapping-wing aircraft technology, and in particular to a flapping-wing aircraft carrying a one-way valve and its lift adjustment method. Background Technology
[0002] Bird-like flapping-wing flying robots are a type of flying robot that mimics the flight patterns of flying creatures in nature, using the flapping of their wings to generate lift and thrust. Over the long course of natural evolution, many flying creatures have evolved flapping-wing flight methods, and many exhibit extremely high flight efficiency. This indicates that bird-like flapping-wing flying robots possess unique advantages compared to rotorcraft and fixed-wing aircraft. Furthermore, due to their unique flight characteristics, flapping-wing flying robots show great promise for applications in numerous fields, including military applications (such as low-altitude reconnaissance and urban warfare) and civilian applications (such as disaster relief and environmental monitoring).
[0003] Bird wings are crucial organs for flight, and their structure and function have undergone long-term evolution and optimization. Bird wings can fold and extend freely, allowing for varying wingspans and angles of attack to cope with different flight conditions. Furthermore, by spreading their feathers, birds can significantly reduce drag during their ascent. Therefore, applying bird wings to the design of bird-inspired flapping-wing flying robots is key to developing efficient, multi-purpose such robots and improving their aerodynamic performance. However, due to the complex physiological structure of bird wings and feathers, research in this area is still in its early stages, and simulating this structure on the wings of bird-inspired flapping-wing flying robots presents significant difficulties and complexities. Moreover, existing aerodynamic optimization methods often neglect the unique flight mechanisms of birds and cannot simulate the morphological changes of bird wings and feathers at different stages of flight. Summary of the Invention
[0004] To address the aforementioned problems, this invention provides a flapping-wing aircraft equipped with a one-way valve and its lift adjustment method, improving the biomimetic nature of the bird-inspired flapping-wing flight robot and leveraging the advantages of birds in flight, such as good stealth, high maneuverability, and high energy efficiency. Specifically, it includes:
[0005] A flapping-wing aircraft carrying a one-way valve includes: a one-way valve and a bird-inspired flapping-wing aircraft;
[0006] A one-way valve is installed on the lower surface of the wing membrane on each of the two wings of the bird-like flapping-wing aircraft, and the two one-way valves are symmetrically positioned.
[0007] The one-way valve includes an integrally stamped fixing ring, an S-shaped connecting beam, and a central disc-shaped cap.
[0008] The central disc-shaped cap is disc-shaped and is coaxially arranged with the fixing ring. The diameter of the central disc-shaped cap is smaller than that of the fixing ring. The fixing ring and the central disc-shaped cap are connected by a circumferential array of multiple S-shaped connecting beams. One end of the S-shaped connecting beam is connected to the inner wall of the fixing ring, and the other end of the S-shaped connecting beam is connected to the outer wall of the central disc-shaped cap.
[0009] When the one-way valve is installed on the wing of the bird-like flapping-wing aircraft, the center of the retaining ring is above the center of the central disc-shaped cap, and the retaining ring is adhered to the wing membrane away from the annular surface of the central disc-shaped cap.
[0010] Optionally, the number of S-shaped connecting beams is three.
[0011] Optionally, the installation requirements for the one-way valve include:
[0012] When the length of a single wing is M and the width of a single wing is N;
[0013] Along the length of the wing, the distance from the center of the one-way valve to the fuselage is d, where d < M;
[0014] In the width direction of the wing, the distance from the center of the one-way valve to the carbon rod of the wing is l, where l = 1 / 2N.
[0015] Optionally, the one-way valve is a PET release film;
[0016] The radius of the central disc-shaped cap is 2 cm;
[0017] The S-shaped connecting beam is a flexible support structure;
[0018] The outer radius of the fixing ring is 3.25 cm, and the width of the fixing ring is 0.5 cm.
[0019] The thickness of the one-way valve is 0.025 mm.
[0020] A lift regulation method for a flapping-wing aircraft carrying a one-way valve, applied to the aforementioned flapping-wing aircraft carrying a one-way valve, the method comprising:
[0021] The lift Y2 of the wing of a bird-like flapping-wing aircraft without a one-way valve was collected under fixed parameters;
[0022] By varying the distance between the center of the one-way valve and the fuselage, the lift Y1 of the wing of the bird-like flapping-wing aircraft with the one-way valve installed each time was collected under fixed parameters.
[0023] By combining parameter Y2 and multiple Y1, the relationship between the distance from the center of the one-way valve to the fuselage and the lift increase ratio is obtained through MATLAB fitting.
[0024] By understanding the relationship between the distance of the one-way valve's center from the fuselage and the lift increase ratio, the position of the one-way valve on the wing of the bird-like flapping-wing aircraft can be set according to requirements.
[0025] Optionally, the collection of the lift Y2 of the wing of a bird-like flapping-wing aircraft without a one-way valve under fixed parameters includes:
[0026] The fixed parameters are set as follows: the prototype's angle of attack is set to 20°, and the flight speed is 3 m / s;
[0027] Propelling a bird-inspired flapping-wing aircraft to fly under fixed parameter conditions;
[0028] Data was collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz, yielding lift data for 10 lift cycles. The average value was then used to obtain Y2.
[0029] Optionally, the step of collecting the lift Y1 of the wing of the bird-like flapping-wing aircraft with the one-way valve installed under fixed parameters by changing the distance between the center of the one-way valve and the fuselage includes:
[0030] S201. Set l = 1 / 2 N, d = 5 cm;
[0031] S202. Install the two one-way valves on the two wings of the bird-like flapping-wing aircraft according to the conditions of parameters l and d respectively.
[0032] S203. Set the fixed parameters as follows: prototype angle of attack is set to 20°, and flight speed is 3m / s;
[0033] S204, Propelling a bird-like flapping-wing aircraft to fly under fixed parameter conditions;
[0034] S205. Data is collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz. Lift data for 10 lift cycles is obtained, and the average value is taken to obtain Y1 under the current conditions.
[0035] S206. When d+5cm<M, d=d+5cm, return to 202;
[0036] Otherwise, the process ends, and the set of Y1 is obtained.
[0037] Optionally, the relationship between the distance from the center of the one-way valve to the fuselage and the lift ratio obtained by combining parameters Y2 and multiple Y1 through MATLAB fitting includes formulas (1) and (2):
[0038] (1)
[0039] (2);
[0040] Y represents the lift increase ratio.
[0041] The above technical solution has at least the following advantages compared with the existing technology:
[0042] A one-way valve can flexibly change the wing area during the flight of a bird-inspired flapping-wing robot, effectively simulating the folding and extension of wings and the spreading and contracting of feathers during bird flight. Specifically, the one-way valve opens during the upstroke and closes during the downstroke. The opening action during the upstroke effectively reduces the negative lift because the opening of the flow orifice disrupts both the integrity of the wing and the smoothness of the airflow. On the other hand, closing the one-way valve during the downstroke completely restores the integrity of the wing profile. This ensures that the positive lift during flight is similar to that of a conventional wing membrane without a valve. The one-way valve designed using this aerodynamic effect can effectively increase the average lift over one cycle. Attached Figure Description
[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0044] Figure 1 This is a schematic diagram showing the state of the check valve when it is closed.
[0045] Figure 2 This is a schematic diagram showing the state of the check valve when it is not closed.
[0046] Figure 3 For the airflow during the upstroke phase of a bird-like flapping-wing aircraft carrying a one-way valve;
[0047] Figure 4 For the airflow during the downstroke phase of a bird-like flapping-wing aircraft carrying a one-way valve;
[0048] Figure 5 A comparison of lift of a bird-like flapping-wing aircraft without a one-way valve and a bird-like flapping-wing aircraft with a one-way valve under the same conditions.
[0049] Figure 6 A schematic diagram of a bird-inspired flapping-wing aircraft carrying a one-way valve;
[0050] Figure 7 The graph shows the relationship between the lift ratio and d.
[0051] Figure label:
[0052] 1. Fixing ring; 2. S-shaped connecting beam; 3. Central disc-shaped cap. Detailed Implementation
[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0054] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. The terms “connected,” “linked,” or “connected,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.
[0055] It should be noted that the terms "up", "down", "left", "right", "front" and "back" used in this invention are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.
[0056] This invention addresses the challenges posed by the complex physiological structure of bird wings and feathers, the ambiguous flight mechanism, and the inability of bird-inspired flapping-wing robots to fully simulate their structure, thus hindering their ability to leverage unique flight advantages. It proposes a one-way valve structure to simulate the contraction and expansion of bird feathers and the extension and contraction of wings, aiming to optimize the aerodynamic characteristics of the bird-inspired flapping-wing robot and maximize its potential advantages. The one-way valve can flexibly change the wing area during flight, effectively simulating the folding and expansion of wings and the extension and contraction of feathers during bird flight. Specifically, the one-way valve opens during the upstroke and closes during the downstroke. The opening action during the upstroke effectively reduces negative lift because the opening of the flow orifice disrupts both the integrity of the wing and the stability of the airflow. Conversely, closing the one-way valve during the downstroke fully restores the integrity of the wing profile. This ensures that the positive lift during flight is similar to that of a conventional wing membrane without a valve. The one-way valve designed using this aerodynamic effect can effectively increase the average lift over a single cycle.
[0057] like Figures 1 to 7 As shown, the present invention provides a flapping-wing aircraft carrying a one-way valve, comprising: a one-way valve and a bird-like flapping-wing aircraft; a one-way valve is respectively installed on the lower surface of the wing membrane of the two wings of the bird-like flapping-wing aircraft, and the two one-way valves are symmetrically positioned; the one-way valve includes an integrally stamped fixing ring, an S-shaped connecting beam, and a central disc-shaped cap; the central disc-shaped cap is disc-shaped, the central disc-shaped cap is coaxially arranged with the fixing ring, and the diameter of the central disc-shaped cap is smaller than that of the fixing ring; the fixing ring and the central disc-shaped cap are connected by a plurality of S-shaped connecting beams in a uniform array around the circumference, one end of the S-shaped connecting beam is connected to the inner sidewall of the fixing ring, and the other end of the S-shaped connecting beam is connected to the outer sidewall of the central disc-shaped cap; when the one-way valve is installed on the wing of the bird-like flapping-wing aircraft, the center of the fixing ring is above the center of the central disc-shaped cap, and the annular surface of the fixing ring facing away from the central disc-shaped cap is adhered to the wing membrane.
[0058] The S-shaped connecting beams are three in number; the one-way valve is a PET release film; the radius of the central disc-shaped cap is 2cm; the S-shaped connecting beams are flexible support structures; the outer radius of the fixing ring is 3.25cm, the width of the fixing ring is 0.5cm, and the thickness of the one-way valve is 0.025mm.
[0059] The installation requirements for the one-way valve include: when the length of one wing is M and the width of one wing is N; in the length direction of the wing, the distance from the center of the one-way valve to the fuselage is d, where d < M; in the width direction of the wing, the distance from the center of the one-way valve to the carbon rod of the wing is l, where l = 1 / 2 N.
[0060] The controlled object of this patent is a bird-like flapping-wing aircraft. The structure of bird-like flapping-wing aircraft is prior art, and this application does not limit it. The parameters of the bird-like flapping-wing aircraft in this embodiment are: the overall wingspan of the robot is 79 cm, the mass is 83.2 g, the wing aspect ratio is 3.23, and the wing loading is 0.51 kg / m². 2 During normal flight, the flapping frequency is approximately between 2 Hz and 4 Hz. Specifically, the wing section uses a CPE (Chlorinated Polyethylene) film with a thickness of only 0.02 mm, which is low in cost, lightweight, and flexible. The wing main shaft and servo arm are inserted into the hollow servo arm connectors at both ends and glued together. The servo section acts as the driving device to drive the wing flapping. The flight control system mainly consists of a sensor module, a power module, a communication module, a power supply module, and an auxiliary debugging module. The entire flight control system weighs approximately 3.9g and measures 38.3 mm × 26.47 mm. It includes an STM32 microprocessor operating at a frequency of 168 MHz, two external USARTs (Universal Synchronous / Asynchronous Receiver / Transmitter), an SDIO (Secure Digital Input and Output) port for temporary data buffering, a status indicator, a power supply module, and a motor drive module. The tail fin connector, made using 3D printing, connects the fuselage and the tail fin. The tail fin itself also utilizes CPE film.
[0061] Specific details of the one-way valve are as follows: Figure 1 and Figure 2 As shown. The one-way valve structure has a thickness of 0.025mm and uses PET release film, which is low in cost, lightweight, and high in strength. The central disc-shaped cap has a radius of 2cm and serves as the core component of the one-way valve, controlling the opening and closing of the airflow channel through deformation. To avoid resonance issues, the one-way valve uses three S-shaped connecting beams as a flexible support structure. Their function is to allow the central disc-shaped cap to deform in a specific direction (such as perpendicular to the flapping wing movement direction) while also providing a restoring force to close the valve. The fixing ring has a radius of 3.25cm and uses it to fix the one-way valve to the lower surface of the wing membrane of the bird-inspired flapping wing flight robot, corresponding to the empty space of the central disc-shaped cap, ensuring precise alignment between the valve and the wing membrane. This invention improves the aerodynamic characteristics of the bird-inspired flapping wing flight robot by adjusting the distance d between the moving one-way valve and the fuselage on the wing.
[0062] Figure 1When the one-way valve is closed, the central disc-shaped cap, the S-shaped connecting beam, and the fixing ring are on the same plane, the airfoil remains intact, and the airflow flows smoothly along the airfoil. Figure 2 When the one-way valve is open, the S-shaped connecting beam is deformed under tension due to the airflow. The one-way valve opens due to the aerodynamic pressure difference, and an airflow channel is formed between the central disc-shaped cap and the annular fixed ring. Local leakage occurs on the wing surface, and the one-way valve damages the integrity of the wing surface.
[0063] The one-way valve structure designed in this patent is specifically for bird-inspired flapping-wing flying robots, used to optimize their aerodynamic characteristics. During the flapping-wing flight cycle, the wings exhibit asymmetrical aerodynamic characteristics during the upstroke and downstroke. During the upstroke, the servo drives the wings to flap upwards. At this time, the three S-shaped connecting beams deform under tension, and the one-way valve automatically opens due to the aerodynamic pressure difference, forming an airflow channel between the central disc cap and the annular fixed ring. The opening of the valve allows airflow to pass through the valve orifice, creating a localized leakage that disrupts the complete flow field on the wing surface, effectively reducing the negative lift generated by wing surface vortices. Simultaneously, the leakage airflow forms a low-pressure area behind the wing surface, further suppressing reverse drag. During the downstroke, the wings flap downwards, and the elastic restoring force of the three S-shaped connecting beams and the reverse airflow pressure push the central disc cap to close. At this time, the one-way valve closes, and the wing surface quickly returns to its original integrity, forming a continuous aerodynamic curved surface. The airflow flows smoothly along the airfoil, thereby maximizing positive lift output. Meanwhile, the coordinated layout of the one-way valves optimizes the overall lift distribution by controlling the local flow field at multiple points, effectively improving the average lift during the flapping wing cycle.
[0064] In a second aspect, the present invention provides a lift regulation method for a flapping-wing aircraft carrying a one-way valve, applicable to the aforementioned flapping-wing aircraft carrying a one-way valve, the method comprising:
[0065] S1. Collect the lift Y2 of the wing of a bird-like flapping-wing aircraft without a one-way valve installed under fixed parameters;
[0066] S101. Set the fixed parameters as follows: prototype angle of attack is set to 20°, and flight speed is 3m / s;
[0067] S102, Propelling the bird-like flapping-wing aircraft to fly under fixed parameter conditions;
[0068] S103. Data is collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz. Lift data for 10 lift cycles is obtained, and the average value is taken to obtain Y2.
[0069] The flight speed can be set by mounting a gripper on a turntable, which rotates at a linear speed of 3 m / s, allowing the bird-like flapping-wing aircraft to achieve a flight speed of 3 m / s.
[0070] S2. By changing the distance between the center of the one-way valve and the fuselage, the lift Y1 of the wing of the bird-like flapping-wing aircraft with the one-way valve installed each time is collected under fixed parameters.
[0071] S201. Set l = 1 / 2 N, d = 5 cm;
[0072] S202. Install the two one-way valves on the two wings of the bird-like flapping-wing aircraft according to the conditions of parameters l and d respectively.
[0073] S203. Set the fixed parameters as follows: prototype angle of attack is set to 20°, and flight speed is 3m / s;
[0074] S204, Propelling a bird-like flapping-wing aircraft to fly under fixed parameter conditions;
[0075] S205. Data is collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz. Lift data for 10 lift cycles is obtained, and the average value is taken to obtain Y1 under the current conditions.
[0076] S206. When d+5cm<M, d=d+5cm, return to 202;
[0077] Otherwise, the process ends, and the set of Y1 is obtained.
[0078] S3. Combining parameter Y2 and multiple Y1, the relationship between the distance from the center of the one-way valve to the fuselage and the lift increase ratio is obtained through MATLAB fitting.
[0079] The relationship between the distance from the center of the one-way valve to the fuselage and the lift ratio obtained by combining parameters Y2 and multiple Y1 through MATLAB fitting includes formulas (1) and (2):
[0080] (1)
[0081] (2);
[0082] Y represents the lift increase ratio.
[0083] S4. Based on the relationship between the distance of the center of the one-way valve from the fuselage and the lift increase ratio, the position of the one-way valve on the wing of the bird-like flapping-wing aircraft is set according to the requirements.
[0084] The specific principle behind this method and structure is as follows:
[0085] The one-way valve is made of PET film. The central disc-shaped cap has a radius of 2cm, and the annular fixing ring of the one-way valve has a radius of 3.25cm. The one-way valve is fixed to the lower surface of the wing membrane of the bird-like flapping-wing flight robot via the fixing ring. To avoid resonance issues, the one-way valve uses three S-shaped connecting beams in two parts as a flexible support structure. Their function is to allow the central disc-shaped cap to deform in a specific direction (such as perpendicular to the flapping-wing direction).
[0086] During the upstroke, the servo drives the wings to swing upwards. At this time, the three S-shaped connecting beams deform under tension, and the one-way valve automatically opens due to the aerodynamic pressure difference, forming an airflow channel between the central disc cap and the annular fixed ring. The opening of the valve causes airflow to leak through the valve orifice, disrupting the complete flow field on the wing surface. This results in the leading-edge vortex (LEV) of the wing being impacted and broken, thereby reducing the negative lift generated during the upstroke. The airflow during the upstroke is as follows: Figure 3 As shown.
[0087] During the downstroke, the wings flap downwards, and the elastic restoring force of the three S-shaped connecting beams, combined with the reverse airflow pressure, pushes the central disc-shaped cap to close. At this moment, the one-way valve closes, and the airfoil quickly returns to its original shape, forming a continuous aerodynamic surface. The airflow flows smoothly along the airfoil, thereby maximizing positive lift output. The positive lift at this time is the same as when the one-way valve is not installed. The airflow during the downstroke is as follows: Figure 4 As shown.
[0088] A complete cycle consists of one downstroke and one upstroke. The effect of installing or not installing a check valve on the lift within a cycle is as follows: Figure 5 As shown, the negative lift during the upstroke is significantly reduced after the check valve is installed.
[0089] In one specific implementation, the present invention obtains a quantitative relationship between the distance from the one-way valve to the fuselage and the lift increase ratio by changing the distance from the one-way valve to the fuselage. The distance d from the one-way valve to the fuselage is as follows: Figure 6As shown. One-way valves with an outer diameter of 6.5 cm, an aperture of 2 cm, and a PET film thickness of 0.025 mm were used. Two one-way valves were symmetrically arranged in each experimental group, one on each side. Starting from 5 cm from the fuselage, one-way valves were placed at distances of 5, 10, 15, 25, and 30 cm from the fuselage, arranged symmetrically with one on each side. Due to the presence of carbon rods at the wing canards and wing veins, a one-way valve could not be installed at 20 cm from the fuselage as it would conflict with the carbon rod frame. A separate experiment was conducted without one-way valves as a control group. The prototype was fixed on a turntable to simulate flight, with an angle of attack of 20° and a turntable rotation speed of 3 m / s. The prototype was flapped using cruise throttle. Lift and thrust tests were performed using an ATI Gamma sensor. The sensor data sampling frequency was set to 100 Hz, and the average lift was calculated by collecting data from 10 lift cycles. Each experiment was repeated three times to ensure the reliability and reproducibility of the data.
[0090] Figure 7 The final lift increase ratio and the distance from the check valve to the fuselage are given by formula (1). Y is the lift increase ratio, given by formula (2), where Y1 is the lift with the check valve installed and Y2 is the lift without the check valve installed.
[0091] A one-way valve can flexibly change the wing area during the flight of a bird-inspired flapping-wing robot, effectively simulating the folding and extension of wings and the spreading and contracting of feathers during bird flight. Specifically, the one-way valve opens during the upstroke and closes during the downstroke. The opening action during the upstroke effectively reduces the negative lift because the opening of the flow orifice disrupts both the integrity of the wing and the smoothness of the airflow. On the other hand, closing the one-way valve during the downstroke completely restores the integrity of the wing profile. This ensures that the positive lift during flight is similar to that of a conventional wing membrane without a valve. The one-way valve designed using this aerodynamic effect can effectively increase the average lift over one cycle.
[0092] The following points need to be explained:
[0093] (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.
[0094] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.
[0095] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.
[0096] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A flapping-wing aircraft carrying a one-way valve, characterized in that, include: One-way valves and bird-like flapping-wing aircraft; A one-way valve is installed on the lower surface of the wing membrane on each of the two wings of the bird-like flapping-wing aircraft, and the two one-way valves are symmetrically positioned. The one-way valve includes an integrally stamped fixing ring, an S-shaped connecting beam, and a central disc-shaped cap. The central disc-shaped cap is disc-shaped and is coaxially arranged with the fixing ring. The diameter of the central disc-shaped cap is smaller than that of the fixing ring. The fixing ring and the central disc-shaped cap are connected by a circumferential array of multiple S-shaped connecting beams. One end of the S-shaped connecting beam is connected to the inner wall of the fixing ring, and the other end of the S-shaped connecting beam is connected to the outer wall of the central disc-shaped cap. When the one-way valve is installed on the wing of the bird-like flapping-wing aircraft, the center of the retaining ring is above the center of the central disc-shaped cap, and the retaining ring is adhered to the wing membrane away from the annular surface of the central disc-shaped cap.
2. The flapping-wing aircraft carrying a one-way valve according to claim 1, characterized in that, The number of S-shaped connecting beams is three.
3. The flapping-wing aircraft carrying a one-way valve according to claim 2, characterized in that, The installation requirements for the one-way valve include: When the length of a single wing is M and the width of a single wing is N; Along the length of the wing, the distance from the center of the one-way valve to the fuselage is d, where d < M; In the width direction of the wing, the distance from the center of the one-way valve to the carbon rod of the wing is l, where l = 1 / 2N.
4. The flapping-wing aircraft carrying a one-way valve according to claim 3, characterized in that, The one-way valve is a PET release film; The radius of the central disc-shaped cap is 2 cm; The S-shaped connecting beam is a flexible support structure; The outer radius of the fixing ring is 3.25 cm, and the width of the fixing ring is 0.5 cm. The thickness of the one-way valve is 0.025 mm.
5. A lift regulation method for a flapping-wing aircraft carrying a one-way valve, characterized in that, Applied to any one of claims 1 to 4, the method comprises: The lift Y2 of the wing of a bird-like flapping-wing aircraft without a one-way valve was collected under fixed parameters; By varying the distance between the center of the one-way valve and the fuselage, the lift Y1 of the wing of the bird-like flapping-wing aircraft with the one-way valve installed each time was collected under fixed parameters. By combining parameter Y2 and multiple Y1, the relationship between the distance from the center of the one-way valve to the fuselage and the lift increase ratio is obtained through MATLAB fitting. By understanding the relationship between the distance of the one-way valve's center from the fuselage and the lift increase ratio, the position of the one-way valve on the wing of the bird-like flapping-wing aircraft can be set according to requirements.
6. The lift adjustment method for a flapping-wing aircraft carrying a one-way valve according to claim 5, characterized in that, The lift Y2 of the wing of the bird-like flapping-wing aircraft without a one-way valve under fixed parameters includes: The fixed parameters are set as follows: the prototype's angle of attack is set to 20°, and the flight speed is 3 m / s; Propelling a bird-inspired flapping-wing aircraft to fly under fixed parameter conditions; Data was collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz, yielding lift data for 10 lift cycles. The average value was then used to obtain Y2.
7. The lift adjustment method for a flapping-wing aircraft carrying a one-way valve according to claim 6, characterized in that, The method of collecting the lift Y1 of the wing of the bird-like flapping-wing aircraft under fixed parameters by changing the distance between the center of the one-way valve and the fuselage for each installation of the one-way valve includes: S201. Set l = 1 / 2 N, d = 5 cm; S202. Install the two one-way valves on the two wings of the bird-like flapping-wing aircraft according to the conditions of parameters l and d respectively. S203. Set the fixed parameters as follows: prototype angle of attack is set to 20°, and flight speed is 3m / s; S204, Propelling a bird-like flapping-wing aircraft to fly under fixed parameter conditions; S205. Data is collected from the bird-like flapping-wing aircraft using an ATI Gamma sensor at a sampling frequency of 100Hz. Lift data for 10 lift cycles is obtained, and the average value is taken to obtain Y1 under the current conditions. S206. When d+5cm<M, d=d+5cm, return to 202; Otherwise, the process ends, and the set of Y1 is obtained.
8. The lift adjustment method for a flapping-wing aircraft carrying a one-way valve according to claim 6, characterized in that, The relationship between the distance from the center of the one-way valve to the fuselage and the lift ratio obtained by combining parameters Y2 and multiple Y1 through MATLAB fitting includes formulas (1) and (2): ；（1） ；（2）； Y represents the lift increase ratio.