Aerodynamic modeling method and device for high-maneuverability miniature bionic flapping-wing robot

Abstract

The invention provides a high-maneuverability miniature bionic flapping-wing robot aerodynamic modeling method and device, and relates to the technical field of bionic miniature flapping-wing aircrafts. The method comprises the steps that model machine frame parameters and driving mechanism parameters are obtained; obtaining transformation from a centroid coordinate system to an infinitesimal stress point coordinate system according to model machine frame parameters and driving mechanism parameters; according to the transformation from the centroid coordinate system to the infinitesimal stress point coordinate system, calculating the infinitesimal aerodynamic force by adopting a leaf element method; according to the micro-element aerodynamic force, the stress point of each micro-element is calculated, and resultant force and resultant moment are obtained; measuring the resultant force and the resultant moment by using a six-axis dynamometer to obtain the measured resultant force and resultant moment; filtering the measured resultant force and resultant moment to obtain filtered data; fitting the filtered data by adopting discrete Fourier transform to obtain fitted data; and establishing a high-maneuverability ornithopter aerodynamic model according to the fitted data. By adopting the method, the timeliness of flapping wing aerodynamic modeling can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic micro flapping-wing aircraft, and in particular to an aerodynamic modeling method and device for a high-maneuverability micro bionic flapping-wing robot. Background Art

[0002] Aerodynamic modeling includes analytical methods, experimental methods and numerical simulation methods. Among them, analytical methods use mathematical formulas and theoretical analysis to describe basic aerodynamic phenomena. Commonly used models include unsteady lift theory and blade element theory. The above methods derive aerodynamic formulas by simplifying assumptions and can quickly obtain preliminary results; among them, experimental methods mainly obtain data through wind tunnel tests and actual flight tests, providing an important verification basis for aerodynamic research. Wind tunnel tests can simulate various flight conditions in a controlled environment and accurately measure aerodynamic forces and flow field information, but their cost is high and time-consuming. Actual flight tests can provide real flight data to verify the results of theory and numerical simulation, but there are also problems of high cost and difficulty; among them, numerical simulation methods, such as computational fluid dynamics, have been widely used in flapping aerodynamic research in recent years. Computational fluid dynamics methods can simulate complex flows in detail, including separated flows, vortices and unsteady phenomena, by solving basic fluid dynamics equations; computational fluid dynamics methods provide high-precision aerodynamic data and are an important tool for studying flapping aerodynamics. However, numerical simulations are computationally intensive and require high computing resources and time. In addition, the accuracy of numerical simulation results depends on the setting of grid division, turbulence models and boundary conditions, requiring a lot of parameter debugging and verification work.

[0003] At present, the existing technology uses the blade element method or computational fluid dynamics method to realize the aerodynamic modeling method of flapping wings in level flight, but there is no aerodynamic modeling method for flapping wing aircraft in vertical flight state. Summary of the invention

[0004] In order to solve the accuracy problem of the existing blade element method modeling or the technical problem of excessive calculation based on the CFD simulation method in the prior art, the embodiment of the present invention provides a method and device for aerodynamic modeling of a highly maneuverable micro bionic flapping wing robot. The technical solution is as follows:

[0005] On the one hand, a method for aerodynamic modeling of a highly maneuverable micro-bionic flapping-wing robot is provided, the method being implemented by a highly maneuverable micro-bionic flapping-wing robot aerodynamic modeling device, the method comprising:

[0006] S1, obtaining the prototype frame parameters and drive mechanism parameters;

[0007] S2. Obtaining the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters;

[0008] S3, according to the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force;

[0009] S4. Calculate the force point of each micro-element according to the micro-element pneumatic force to obtain the resultant force and resultant moment;

[0010] S5. Using a six-axis dynamometer to measure the resultant force and resultant moment to obtain the measured resultant force and resultant moment;

[0011] S6. Filter the measured resultant force and resultant moment to obtain filtered data; fit the filtered data using discrete Fourier transform to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

[0012] Optionally, the prototype frame parameters and drive mechanism parameters of S1 include:

[0013] The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

[0014] Optionally, the step S2 obtains the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters, including:

[0015] S21, modeling the mechanical structure of the flapping-wing aircraft according to the prototype frame parameters and the drive mechanism parameters, and obtaining a transformation from a center of mass coordinate system to a wing coordinate system;

[0016] S22, according to the wing coordinate system, obtaining the coordinate system transformation from the wing coordinate system to the micro-element force point;

[0017] S23. According to the transformation from the centroid coordinate system to the wing coordinate system and the transformation from the wing coordinate system to the coordinate system of the micro-element force point, the transformation from the centroid coordinate system to the micro-element force point coordinate system is obtained.

[0018] Optionally, the S3 adopts the blade element method to calculate the micro-element aerodynamic force, including:

[0019] S31, using the blade element method to calculate the flapping angle, microelement linear velocity and torsion angle;

[0020] S32, substituting the flapping angle, micro-element linear velocity and torsion angle into the aerodynamic formula for calculation to obtain the micro-element aerodynamic force.

[0021] Optionally, the step S4 calculates the force point of each micro-element according to the micro-element aerodynamic force to obtain the resultant force and resultant moment, including:

[0022] S41, calculating the force point of each micro-element according to the micro-element aerodynamic force;

[0023] S42. According to the force points of each micro-element, sum each micro-element to obtain the resultant force and resultant moment in the centroid coordinates.

[0024] Optionally, the resultant force is used to represent the vector sum of the aerodynamic forces of all micro-elements in space, and represents the total force acting on the entire wing in space; the resultant torque is used to represent the rotational torque generated by the aerodynamic force on the reference point.

[0025] On the other hand, a highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device is provided, and the device is applied to a highly maneuverable micro bionic flapping-wing robot aerodynamic modeling method, and the device comprises:

[0026] A first acquisition unit, used to acquire the prototype frame parameters and the drive mechanism parameters;

[0027] A second acquisition unit is used to obtain the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters;

[0028] A calculation unit, used for calculating the micro-element aerodynamic force by using a blade element method according to the transformation from the mass center coordinate system to the micro-element force point coordinate system;

[0029] A third acquisition unit is used to calculate the force point of each micro-element according to the micro-element aerodynamic force to obtain the resultant force and the resultant moment;

[0030] A measuring unit, used to measure the resultant force and resultant moment using a six-axis dynamometer to obtain the measured resultant force and resultant moment;

[0031] The fitting and construction unit is used to filter the measured resultant force and resultant moment to obtain filtered data; use discrete Fourier transform to fit the filtered data to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

[0032] Optionally, the prototype frame parameters and drive mechanism parameters include:

[0033] The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

[0034] Optionally, the second acquiring unit is used to:

[0035] Modeling the mechanical structure of the flapping-wing aircraft according to the prototype frame parameters and the drive mechanism parameters, and obtaining the transformation from the center of mass coordinate system to the wing coordinate system;

[0036] According to the wing coordinate system, the coordinate system transformation from the wing coordinate system to the micro-element force point is obtained;

[0037] According to the transformation from the mass center coordinate system to the wing coordinate system and the transformation from the wing coordinate system to the coordinate system of the micro-element force point, the transformation from the mass center coordinate system to the coordinate system of the micro-element force point is obtained.

[0038] Optionally, the computing unit is used to:

[0039] The blade element method is used to calculate the flapping angle, microelement linear velocity and torsion angle;

[0040] Substitute the flapping angle, micro-element linear velocity and torsion angle into the aerodynamic formula for calculation to obtain the micro-element aerodynamic force.

[0041] Optionally, the third acquiring unit is used to:

[0042] Calculating the force point of each microelement according to the microelement aerodynamic force;

[0043] According to the force point of each microelement, each microelement is summed to obtain the resultant force and resultant moment in the centroid coordinates.

[0044] Optionally, the resultant force is used to represent the vector sum of the aerodynamic forces of all micro-elements in space, and represents the total force acting on the entire wing in space; the resultant torque is used to represent the rotational torque generated by the aerodynamic force on the reference point.

[0045] On the other hand, a highly maneuverable micro-bionic flapping-wing robot aerodynamic modeling device is provided, and the highly maneuverable micro-bionic flapping-wing robot aerodynamic modeling device comprises: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any one of the above-mentioned highly maneuverable micro-bionic flapping-wing robot aerodynamic modeling methods is implemented.

[0046] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement any one of the above-mentioned methods for aerodynamic modeling of a highly maneuverable micro-bionic flapping-wing robot.

[0047] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0048] The embodiment of the present invention first obtains the prototype frame parameters and the drive mechanism parameters; according to the prototype frame parameters and the drive mechanism parameters, obtains the transformation from the center of mass coordinate system to the micro-element force point coordinate system; secondly, according to the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force; according to the micro-element aerodynamic force, the force point of each micro-element is calculated to obtain the resultant force and the resultant moment; a six-axis dynamometer is used to measure the resultant force and the resultant moment to obtain the measured resultant force and the resultant moment; the measured resultant force and the resultant moment are filtered to obtain filtered data; finally, discrete Fourier transform is used to fit the filtered data to obtain fitted data; and an aerodynamic model of a high-maneuverability flapping-wing aircraft is established according to the fitted data.

[0049] The embodiment of the present invention utilizes the blade element method to realize aerodynamic force calculation and aerodynamic parameter data fitting method for two pairs of wings under different flapping frequencies and control inputs; the embodiment of the present invention can improve the timeliness of the aerodynamic model of a high-maneuverability flapping-wing aircraft, and can be applied to terminals to optimize prototype control. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 This is a flow chart of a method for aerodynamic modeling of a highly maneuverable micro bionic flapping-wing robot provided by an embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of a centroid coordinate system provided by an embodiment of the present invention;

[0053] Figure 3 is a first control input effect diagram provided by an embodiment of the present invention;

[0054] Figure 4 is a diagram showing the effect of a second control input provided by an embodiment of the present invention;

[0055] Figure 5 is a schematic diagram of a wing coordinate system provided by an embodiment of the present invention;

[0056] Figure 6 is a schematic diagram of a microelement force coordinate system provided by an embodiment of the present invention;

[0057] Figure 7 This is a block diagram of an aerodynamic modeling device for a highly maneuverable micro bionic flapping-wing robot provided by an embodiment of the present invention;

[0058] Figure 8 It is a structural schematic diagram of an aerodynamic modeling device for a highly maneuverable micro-bionic flapping-wing robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0060] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0061] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0062] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0063] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0064] The embodiment of the present invention provides a method for aerodynamic modeling of a high-mobility micro-bionic flapping-wing robot, which can be implemented by a high-mobility micro-bionic flapping-wing robot aerodynamic modeling device, and the high-mobility micro-bionic flapping-wing robot aerodynamic modeling device can be a terminal or a server. Figure 1 The flow chart of the aerodynamic modeling method of the high-maneuverability micro-bionic flapping-wing robot shown in the figure, the processing flow of the method may include the following steps:

[0065] S1. Obtain the prototype frame parameters and drive mechanism parameters.

[0066] Among them, the prototype frame parameters are the relative position relationship of the various mechanism parts of the prototype, and the driving mechanism parameters refer to the different changes produced by different mechanisms. Taking the servo as an example, the parameters are the response time and the angle of change in the steady state, which is abstracted in the model as the position change of the wings relative to the fuselage.

[0067] Among them, the prototype frame, taking a common quadcopter as an example, removes the shell and frame left by all batteries, main control and motor electronic components.

[0068] Optionally, the prototype frame parameters and drive mechanism parameters of S1 include:

[0069] The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

[0070] S2. According to the prototype frame parameters and the drive mechanism parameters, the transformation from the center of mass coordinate system to the micro-element force point coordinate system is obtained.

[0071] Optionally, the specific implementation steps of S2 may include S21-S23:

[0072] S21, modeling the mechanical structure of the flapping-wing aircraft according to the prototype frame parameters and the drive mechanism parameters, and obtaining the transformation from the center of mass coordinate system to the wing coordinate system;

[0073] In a feasible implementation, Figure 1 The figure shows a schematic diagram of the center of mass coordinate system. The mechanical structure of the flapping-wing aircraft can be modeled by the following formulas (1) to (4):

[0074] (1)

[0075] (2)

[0076] (3)

[0077] (4)

[0078] in, It represents the distance from the center of mass of the fuselage to the wing plane; represents the first control input, twisting the two pairs of wings to produce a z-axis rotation in the center of mass coordinate system, where Figure 2 Shown is a schematic diagram of the effect of the first control input; represents the second control input, which closes the wing to one side, resulting in a y-axis rotation in the mass center coordinate system, where Figure 3 Shown is a schematic diagram of the effect of the second control input; It represents the distance between the flapping axis of the wing and the symmetry axis of the flapping-wing aircraft when the flapping-wing aircraft is stationary and the control input is 0, where i is left or right, with a negative sign on the left and a positive sign on the right; Represents the transformation from the center of mass coordinate system to the wing coordinate system when there is control input.

[0079] S22, according to the wing coordinate system, obtaining the coordinate system transformation from the wing coordinate system to the micro-element force point;

[0080] Among them, Figure 4 The figure shows a schematic diagram of the wing coordinate system. The transformation from the wing coordinate system to the coordinate system of the micro-element force point can be expressed by formula (5) to formula (8):

[0081] (5)

[0082] (6)

[0083] (7)

[0084] (8)

[0085] in, represents the flapping angle, which changes with time and is a sine function. represents the distance between the microelement and the wing coordinate system, is the twist angle, which indicates the angle at which the microelement is twisted around the long side of the wing. is the length of different microelement; Represents the coordinate transformation from the wing coordinate system to the infinitesimal force point.

[0086] S23. According to the transformation from the centroid coordinate system to the wing coordinate system and the transformation from the wing coordinate system to the coordinate system of the micro-element force point, the transformation from the centroid coordinate system to the micro-element force point coordinate system is obtained.

[0087] in, Represents the transformation from the centroid coordinate system to the infinitesimal force point coordinate system.

[0088] Among them, since the wing adopts a non-rigid design, when the motor drives the wing to produce flapping motion, not only will it flap up and down, but also complex torsion will occur; due to torsion, different parts of the wing will be at different torsion angles, resulting in different aerodynamic forces generated by each microelement. The microelements of the wing at different torsion angles will be subject to different airflow forces, and the distribution and size of the aerodynamic force need to be accurately calculated. In order to accurately simulate and predict the aerodynamic force distribution of the wing during movement, each microelement is independently calculated and analyzed; the aerodynamic characteristics of the wing in complex motion states can be more accurately understood, and reliable data support can be provided for further optimization of the design, thereby improving the performance and efficiency of the overall system. Through the above-mentioned precise calculation method, it can be ensured that the wing exhibits the best dynamic characteristics and stability in practical applications.

[0089] S3. Based on the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force.

[0090] Among them, the blade element method is an analysis method widely used in the field of aerospace engineering, which is used to perform detailed force analysis on each wing element; among them, the blade element method is a conventional technical means, and the principle and specific implementation process of the blade element method are not elaborated in this application.

[0091] Among them, in the simulation process, the embodiment of the present invention divides the wing into several tiny units as micro-elements; for each micro-element, the embodiment of the present invention considers the force conditions of each micro-element under different angles of attack and linear velocities; wherein, the angle of attack refers to the angle between the air flow direction and the windward surface of the wing; the micro-element linear velocity is the speed of the micro-element moving in the air.

[0092] Optionally, S3 uses the blade element method to calculate the micro-element aerodynamics, including:

[0093] S31, using the blade element method to calculate the flapping angle, microelement linear velocity and torsion angle;

[0094] In a feasible implementation manner, the formula for calculating the flapping angle can be expressed by the following formula (9):

[0095] (9)

[0096] in, represents the flapping angle; is the maximum flapping angle, It represents the flapping frequency, and the left and right flapping frequencies are controlled separately; t represents the time, that is, the moment of calculation.

[0097] According to the formula of the flapping angle, the first-order derivative of the flapping angle is calculated; wherein the first-order derivative of the flapping angle can be expressed by the following formula (10):

[0098] (10)

[0099] In a feasible implementation, the microelement linear velocity is calculated based on the first-order derivative of the flapping angle; wherein the formula for calculating the microelement linear velocity can be expressed by the following formula (11):

[0100] (11)

[0101] in, represents the microelement linear velocity; among them, due to vertical flight and the slow flight speed of the prototype, the incoming flow velocity Mainly produced by fluttering.

[0102] In a feasible implementation manner, the formula for calculating the torsion angle can be expressed by the following formula (12):

[0103] (12)

[0104] in, represents the torsion angle; Indicates the long side of the wing; Represents the maximum twist angle of the wing element around the long side.

[0105] S32, substituting the flapping angle, micro-element linear velocity and torsion angle into the aerodynamic formula for calculation to obtain the micro-element aerodynamic force.

[0106] The aerodynamic formula can be expressed by the following formula (13), formula (14), formula (15) and formula (16).

[0107] The torsion angle moves periodically with the flapping, and the torsion angle at the edge is larger than that at the heel. The angle of attack of different micro-elements can be calculated based on the torsion angle, and the calculation formula of the angle of attack can be expressed by the following formula (13):

[0108] (13)

[0109] in, Indicates the angle of attack.

[0110] In a feasible implementation, the z-axis of the micro-element coordinate system can be expressed by the following formula (14):

[0111] (14)

[0112] in, It represents the first infinitesimal force, which is perpendicular to the long side of the wing and runs from the long side to the end of the wing; Indicates the air density; represents the square of the wing's infinitesimal linear velocity; It represents the fitting function corresponding to the first infinitesimal force component, and the input of the function is the angle of attack; Represents the long side of the wing element.

[0113] The x-axis of the microelement can be expressed by the following formula (15):

[0114] (15)

[0115] in, It represents the second infinitesimal force, which is in the direction perpendicular to the wings and upward; Represents the fitting function corresponding to the second infinitesimal force component.

[0116] The infinitesimal y-axis can be expressed by the following formula (16):

[0117] (16)

[0118] in, represents the third infinitesimal force component, and its direction is the cross product of the first infinitesimal force component and the second infinitesimal force component; Represents the fitting function corresponding to the third infinitesimal force component.

[0119] Among them, the fitting function corresponding to the first infinitesimal force component is , can be expressed by the following formula (17):

[0120] (17)

[0121] in, The first constant to be fitted of the fitting function corresponding to the first infinitesimal force component; A second constant to be fitted representing the fitting function corresponding to the first infinitesimal force component; The third constant to be fitted of the fitting function corresponding to the first infinitesimal force component; The fourth constant to be fitted of the fitting function corresponding to the first infinitesimal force component.

[0122] Among them, the fitting function is expressed in the form of Fourier transform. Because the left and right flapping frequencies are different and the left and right attack angle periods are different, i represents left and right, and j represents the coefficients of different groups.

[0123] Among them, the fitting function corresponding to the second infinitesimal force is , can be expressed by the following formula (18):

[0124] (18)

[0125] in, The first constant to be fitted of the fitting function corresponding to the second infinitesimal force component; The second constant to be fitted of the fitting function corresponding to the second infinitesimal force component;

[0126] The third constant to be fitted of the fitting function corresponding to the second infinitesimal force component; The fourth constant to be fitted of the fitting function corresponding to the second infinitesimal force component is represented.

[0127] Among them, the fitting function corresponding to the third infinitesimal force is , can be expressed by the following formula (19):

[0128] (19)

[0129] in, The first constant to be fitted of the fitting function corresponding to the third infinitesimal force component; The second constant to be fitted of the fitting function corresponding to the third infinitesimal force component; The third constant to be fitted of the fitting function corresponding to the third infinitesimal force component; The fourth constant to be fitted of the fitting function corresponding to the third infinitesimal force component is represented.

[0130] Among them, by calculating the angle of attack, micro-element linear velocity and torsion angle, the force situation of each micro-element can be determined, and the aerodynamic performance of the entire wing under different flight conditions can be predicted. Through the detailed analysis of the blade element method, high-precision calculation results can be provided, so that a comprehensive understanding of the force situation of the wing can be obtained; among them, the lift of wings with different wing shapes has important guiding significance for the optimization design of the prototype system. For example, by analyzing the aerodynamic force distribution under different angles of attack and linear velocities, the shape and structure of the wing can be adjusted to improve the efficiency and stability of the prototype flight process.

[0131] S4. According to the micro-element aerodynamic force, calculate the force point of each micro-element to obtain the resultant force and resultant moment.

[0132] Among them, Figure 5 The figure shows the force coordinate system of the microelement, where the force point is the position where the microelement of the wing is parallel to the short side and moves 1 / 4 of the length of the microelement of the wing from the long side to the edge of the wing.

[0133] Optionally, the specific implementation process of S4 may include S41-S42:

[0134] S41, calculating the force point of each microelement according to the microelement aerodynamic force;

[0135] S42. According to the force points of each micro-element, sum each micro-element to obtain the resultant force and resultant moment in the centroid coordinates.

[0136] Among them, the above-mentioned first infinitesimal force component calculation formula, second infinitesimal force component calculation formula and third infinitesimal force component calculation formula are used, and the rotation matrix is ​​used to calculate the resultant force and resultant moment in the center of mass coordinate system.

[0137] Optionally, the resultant force is used to represent the vector sum of the aerodynamic forces of all infinitesimal elements in space, representing the total force acting on the entire wing in space; the resultant torque is used to represent the rotational torque generated by the aerodynamic force on the reference point.

[0138] Among them, the resultant torque can reflect the rotation tendency of the wing under the action of aerodynamic force.

[0139] Among them, by calculating the resultant force and resultant moment, we can fully understand the force and motion characteristics of the wings under different conditions.

[0140] S5. Use a six-axis dynamometer to measure the resultant force and resultant moment to obtain the measured resultant force and resultant moment.

[0141] Among them, the link prototype and the six-axis dynamometer need their symmetry axes to coincide and be used after being peeled.

[0142] Among them, a six-axis dynamometer was used to accurately measure the six-axis force and torque of the system under different control inputs; among them, the six-axis dynamometer can capture the changes in force and torque of the system in all directions, and can fully understand the dynamic response of the system under different control conditions.

[0143] S6. Filter the measured resultant force and resultant moment to obtain filtered data; fit the filtered data using discrete Fourier transform to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

[0144] Among them, the mean filtering method is used to filter the measured resultant force and resultant moment.

[0145] Among them, during the actual flight test, the aircraft is easy to be damaged, especially the small aircraft, which is difficult to repair. Simulation in a virtual scene can avoid maintenance, and the algorithm simulation environment is controllable, which can achieve better simulation for adjustment. The embodiment of the present invention can establish a key dynamic model for establishing a functional relationship between the control input and the change of the motion state of the prototype.

[0146] The embodiment of the present invention first obtains the prototype frame parameters and the drive mechanism parameters; according to the prototype frame parameters and the drive mechanism parameters, obtains the transformation from the center of mass coordinate system to the micro-element force point coordinate system; secondly, according to the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force; according to the micro-element aerodynamic force, the force point of each micro-element is calculated to obtain the resultant force and the resultant moment; a six-axis dynamometer is used to measure the resultant force and the resultant moment to obtain the measured resultant force and the resultant moment; the measured resultant force and the resultant moment are filtered to obtain filtered data; finally, discrete Fourier transform is used to fit the filtered data to obtain fitted data; and an aerodynamic model of a high-maneuverability flapping-wing aircraft is established according to the fitted data.

[0147] The embodiment of the present invention utilizes the blade element method to realize aerodynamic force calculation and aerodynamic parameter data fitting method for two pairs of wings under different flapping frequencies and control inputs; the embodiment of the present invention can improve the timeliness of the aerodynamic model of a high-maneuverability flapping-wing aircraft, and can be applied to terminals to optimize prototype control.

[0148] Figure 7 The figure is a block diagram of a highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device according to an exemplary embodiment, and the device is used for a highly maneuverable micro bionic flapping-wing robot aerodynamic modeling method. Figure 7 The device includes a first acquisition unit 310, a second acquisition unit 320, a calculation unit 330, a third acquisition unit 340, a measurement unit 350, and a fitting and construction unit 360. Wherein:

[0149] A first acquisition unit 310 is used to acquire the prototype frame parameters and the drive mechanism parameters;

[0150] A second acquisition unit 320 is used to obtain the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters;

[0151] A calculation unit 330, configured to calculate the micro-element aerodynamic force by using a blade element method according to the transformation from the mass center coordinate system to the micro-element force point coordinate system;

[0152] A third acquisition unit 340 is used to calculate the force point of each micro-element according to the micro-element aerodynamic force to obtain the resultant force and the resultant moment;

[0153] A measuring unit 350 is used to measure the resultant force and resultant moment using a six-axis dynamometer to obtain the measured resultant force and resultant moment;

[0154] The fitting and construction unit 360 is used to filter the measured resultant force and resultant moment to obtain filtered data; use discrete Fourier transform to fit the filtered data to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

[0155] Optionally, the prototype frame parameters and drive mechanism parameters include:

[0156] The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

[0157] Optionally, the second acquiring unit 320 is configured to:

[0158] Modeling the mechanical structure of the flapping-wing aircraft according to the prototype frame parameters and the drive mechanism parameters, and obtaining the transformation from the center of mass coordinate system to the wing coordinate system;

[0159] According to the wing coordinate system, the coordinate system transformation from the wing coordinate system to the micro-element force point is obtained;

[0160] According to the transformation from the mass center coordinate system to the wing coordinate system and the transformation from the wing coordinate system to the coordinate system of the micro-element force point, the transformation from the mass center coordinate system to the coordinate system of the micro-element force point is obtained.

[0161] Optionally, the computing unit 330 is configured to:

[0162] The blade element method is used to calculate the flapping angle, microelement linear velocity and torsion angle;

[0163] Substitute the flapping angle, micro-element linear velocity and torsion angle into the aerodynamic formula for calculation to obtain the micro-element aerodynamic force.

[0164] Optionally, the third obtaining unit 340 is configured to:

[0165] Calculating the force point of each microelement according to the microelement aerodynamic force;

[0166] According to the force point of each microelement, each microelement is summed to obtain the resultant force and resultant moment in the centroid coordinates.

[0167] Optionally, the resultant force is used to represent the vector sum of the aerodynamic forces of all micro-elements in space, and represents the total force acting on the entire wing in space; the resultant torque is used to represent the rotational torque generated by the aerodynamic force on the reference point.

[0168] The embodiment of the present invention first obtains the prototype frame parameters and the drive mechanism parameters; according to the prototype frame parameters and the drive mechanism parameters, obtains the transformation from the center of mass coordinate system to the micro-element force point coordinate system; secondly, according to the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force; according to the micro-element aerodynamic force, the force point of each micro-element is calculated to obtain the resultant force and the resultant moment; a six-axis dynamometer is used to measure the resultant force and the resultant moment to obtain the measured resultant force and the resultant moment; the measured resultant force and the resultant moment are filtered to obtain filtered data; finally, discrete Fourier transform is used to fit the filtered data to obtain fitted data; and an aerodynamic model of a high-maneuverability flapping-wing aircraft is established according to the fitted data.

[0169] The embodiment of the present invention utilizes the blade element method to realize aerodynamic force calculation and aerodynamic parameter data fitting method for two pairs of wings under different flapping frequencies and control inputs; the embodiment of the present invention can improve the timeliness of the aerodynamic model of a high-maneuverability flapping-wing aircraft, and can be applied to terminals to optimize prototype control.

[0170] Figure 8 is a schematic diagram of the structure of a high-mobility micro-bionic flapping-wing robot aerodynamic modeling device provided by an embodiment of the present invention, such as Figure 8 As shown, the aerodynamic modeling device for a high-mobility micro bionic flapping-wing robot may include the above Figure 7 The highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device shown. Optionally, the highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device 410 may include a first processor 2001.

[0171] Optionally, the highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device 410 may further include a memory 2002 and a transceiver 2003 .

[0172] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0173] Combine the following Figure 8 The various components of the high-mobility micro bionic flapping-wing robot aerodynamic modeling device 410 are specifically introduced:

[0174] The first processor 2001 is the control center of the high-mobility micro-bionic flapping-wing robot aerodynamic modeling device 410, and can be a processor or a general term for multiple processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (field programmable gate arrays, FPGAs).

[0175] Optionally, the first processor 2001 can perform various functions of the high-maneuverability micro-bionic flapping-wing robot aerodynamic modeling device 410 by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002.

[0176] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Figure 8 CPU0 and CPU1 are shown in FIG.

[0177] In a specific implementation, as an embodiment, the high-mobility micro bionic flapping-wing robot aerodynamic modeling device 410 may also include multiple processors, such as Figure 8 The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0178] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled to be executed by the first processor 2001. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0179] Optionally, the memory 2002 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2002 may be integrated with the first processor 2001, or may exist independently, and may be accessed through the interface circuit ( Figure 8 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0180] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0181] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Figure 8 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0182] Optionally, the transceiver 2003 may be integrated with the first processor 2001, or may exist independently and communicate with the first processor 2001 through the interface circuit ( Figure 8 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0183] It should be noted that Figure 8 The structure of the high-maneuverability micro-bionic flapping-wing robot aerodynamic modeling device 410 shown in the figure does not constitute a limitation on the router. The actual knowledge structure recognition device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0184] In addition, the technical effects of the high-maneuverability micro-bionic flapping-wing robot aerodynamic modeling device 410 can refer to the technical effects of the high-maneuverability micro-bionic flapping-wing robot aerodynamic modeling method described in the above method embodiment, and will not be repeated here.

[0185] It should be understood that the first processor 2001 in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0186] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0187] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0188] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0189] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0190] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0191] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0192] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0193] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0194] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0196] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0197] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for aerodynamic modeling of a highly maneuverable micro bionic flapping-wing robot, characterized in that: The method comprises: S1, obtaining the prototype frame parameters and drive mechanism parameters; S2. Obtaining the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters; S3, according to the transformation from the center of mass coordinate system to the micro-element force point coordinate system, the blade element method is used to calculate the micro-element aerodynamic force; S4. Calculate the force point of each micro-element according to the micro-element pneumatic force to obtain the resultant force and resultant moment; S5. Using a six-axis dynamometer to measure the resultant force and resultant moment to obtain the measured resultant force and resultant moment; S6. Filter the measured resultant force and resultant moment to obtain filtered data; fit the filtered data using discrete Fourier transform to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

2. The aerodynamic modeling method of a highly maneuverable micro bionic flapping-wing robot according to claim 1, characterized in that: The prototype frame parameters and drive mechanism parameters of S1 include: The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

3. The aerodynamic modeling method of the high-maneuverability micro bionic flapping-wing robot according to claim 2 is characterized in that: The step S2 obtains the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters, including: S21, modeling the mechanical structure of the flapping-wing aircraft according to the prototype frame parameters and the drive mechanism parameters, and obtaining a transformation from a center of mass coordinate system to a wing coordinate system; S22, according to the wing coordinate system, obtaining the coordinate system transformation from the wing coordinate system to the micro-element force point; S23. According to the transformation from the centroid coordinate system to the wing coordinate system and the transformation from the wing coordinate system to the coordinate system of the micro-element force point, the transformation from the centroid coordinate system to the micro-element force point coordinate system is obtained.

4. The aerodynamic modeling method of a highly maneuverable micro bionic flapping-wing robot according to claim 1, characterized in that: The S3 uses the blade element method to calculate the micro-element aerodynamic force, including: S31, using the blade element method to calculate the flapping angle, microelement linear velocity and torsion angle; S32, substituting the flapping angle, micro-element linear velocity and torsion angle into the aerodynamic formula for calculation to obtain the micro-element aerodynamic force.

5. The aerodynamic modeling method of a highly maneuverable micro bionic flapping-wing robot according to claim 1, characterized in that: The step S4 calculates the force point of each microelement according to the microelement aerodynamic force to obtain the resultant force and resultant moment, including: S41, calculating the force point of each micro-element according to the micro-element aerodynamic force; S42. According to the force points of each micro-element, sum each micro-element to obtain the resultant force and resultant moment in the centroid coordinates.

6. The aerodynamic modeling method of a highly maneuverable micro bionic flapping-wing robot according to claim 1, characterized in that: The resultant force is used to represent the vector sum of the aerodynamic forces of all micro-elements in space, and represents the total force acting on the entire wing in space; the resultant torque is used to represent the rotational torque generated by the aerodynamic force on the reference point.

7. A highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device, the highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device is used to implement the highly maneuverable micro bionic flapping-wing robot aerodynamic modeling method as claimed in any one of claims 1 to 6, characterized in that: The device comprises: A first acquisition unit, used to acquire the prototype frame parameters and the drive mechanism parameters; A second acquisition unit is used to obtain the transformation from the centroid coordinate system to the micro-element force point coordinate system according to the prototype frame parameters and the drive mechanism parameters; A calculation unit, used for calculating the micro-element aerodynamic force by using a blade element method according to the transformation from the mass center coordinate system to the micro-element force point coordinate system; A third acquisition unit is used to calculate the force point of each micro-element according to the micro-element aerodynamic force to obtain the resultant force and the resultant moment; A measuring unit, used to measure the resultant force and resultant moment using a six-axis dynamometer to obtain the measured resultant force and resultant moment; The fitting and construction unit is used to filter the measured resultant force and resultant moment to obtain filtered data; use discrete Fourier transform to fit the filtered data to obtain fitted data; and establish an aerodynamic model of a high-maneuverability flapping-wing aircraft based on the fitted data.

8. The aerodynamic modeling device for a highly maneuverable micro bionic flapping-wing robot according to claim 7, characterized in that: The prototype frame parameters and drive mechanism parameters include: The distance from the center of mass of the body to the wing plane, the first control input parameter, the second control input parameter, the different flapping frequencies on both sides, and the distance between the wing flapping axis and the symmetry axis of the flapping machine.

9. A highly maneuverable micro bionic flapping-wing robot aerodynamic modeling device, characterized in that: The aerodynamic modeling device of the highly maneuverable micro bionic flapping-wing robot comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 6.

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