Bionic butterfly aircraft and design method thereof

Abstract

The invention discloses a bionic butterfly aircraft and a design method thereof, and relates to the technical field of bionic aircrafts, the bionic butterfly aircraft comprises a driving system, wings, a control system and a power supply, the driving system is located at the head position of a bionic butterfly, the wings are arranged on the two sides of the driving system and are in transmission connection with the driving system, and the control system is electrically connected with the driving system; the control system and the driving system are both electrically connected with the power source, the wings comprise wing membranes and a plurality of wing veins, the wing veins are arranged on the wing membranes in a divergent mode, the gathering ends, close to each other, of the wing veins are arranged close to the driving system, and the gathering ends of the wing veins are in transmission connection with the driving system; the structure of the wings is simplified, the weight of the structure is reduced, the aerodynamic efficiency can be improved, the flight energy consumption is reduced, the endurance time is prolonged, and the flight flexibility is improved, so that the aircraft can be applied to the fields of military reconnaissance, environment monitoring and the like, and the application range of the bionic flapping-wing aircraft is expanded.

Description

Technical Field

[0001] The invention relates to the technical field of bionic aircraft, in particular to a bionic butterfly aircraft and a design method thereof. Background Art

[0002] Bionic aircraft are designed by imitating the structure and movement of organisms. The design inspiration mainly comes from creatures in nature with excellent flying abilities, such as birds, insects and bats. The design of bionic aircraft aims to overcome the limitations of traditional aircraft and achieve more efficient, flexible and versatile flight capabilities. Bionic aircraft have broad application prospects in both military and civilian fields. In the military, bionic aircraft can be used for reconnaissance missions to improve combat efficiency and battlefield advantages. In the civilian field, bionic aircraft can be used for environmental monitoring.

[0003] However, in the field of bionic aircraft, the bionic butterfly aircraft known to the applicant all have problems such as complex structure, low aerodynamic efficiency and short endurance. Therefore, the application scope of the bionic butterfly aircraft known to the applicant is mainly concentrated in laboratory research, and it is difficult to expand to practical application fields such as military reconnaissance and environmental monitoring.

[0004] Therefore, people are in urgent need of a bionic butterfly aircraft with high aerodynamic efficiency and long flight time. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic butterfly aircraft and a design method thereof to solve the problems existing in the above-mentioned prior art. By designing the wings, the weight of the wings can be reduced to improve the aerodynamic efficiency and the flight time.

[0006] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides a bionic butterfly aircraft, including a drive system, wings, a control system and a power supply, wherein the drive system is located at the head of the bionic butterfly, the wings are arranged on both sides of the drive system, the wings are transmission-connected to the drive system, the control system is electrically connected to the drive system, and the control system and the drive system are both electrically connected to the power supply, the wings include a wing membrane and a plurality of wing veins, the plurality of wing veins are arranged in a divergent shape on the wing membrane, the converging end of the plurality of wing veins close to each other is arranged close to the drive system, and the converging end of the plurality of wing veins is transmission-connected to the drive system.

[0007] Preferably, the wing membrane is a PET film.

[0008] Preferably, the wing veins are carbon fiber rods.

[0009] Preferably, the driving system is a dual-axis servo, and two output shafts of the dual-axis servo are respectively transmission-connected to the wings located on both sides.

[0010] Preferably, the control system is located at the chest and abdomen of the bionic butterfly, the power supply is located at a side of the control system away from the drive system, and the control system and the power supply are connected to the drive system via a support.

[0011] Preferably, the support member is a carbon fiber rod.

[0012] Preferably, a visual sensor is provided on the control system, and the visual sensor is electrically connected to the control system.

[0013] Preferably, the wings are provided with sensors for detecting ambient temperature, humidity and air quality data.

[0014] Preferably, the control system includes a main controller for processing sensor data and a PID controller for real-time control of the drive system.

[0015] The present invention also provides a design method for the above-mentioned bionic butterfly aircraft, comprising the following steps:

[0016] S1: Select the butterfly to be imitated, and determine the dimensions of the bionic butterfly aircraft based on the butterfly as the design prototype;

[0017] S2: Determine the wing structure of the bionic butterfly aircraft;

[0018] S3: Use software to perform aerodynamic analysis on the bionic butterfly aircraft;

[0019] S4: Use software to simulate the flight control of the bionic butterfly aircraft;

[0020] S5: Determine the final design plan.

[0021] Compared with the prior art, the present invention mainly achieves the following technical effects:

[0022] The wings are composed of wing veins and wing membranes, which simplifies the wing structure. The design of multiple wing veins arranged in a divergent shape on the wing membrane can reduce the weight of the structure while ensuring the structural strength of the wing. As the weight of the wings decreases, the aerodynamic efficiency can be effectively improved, the flight energy consumption can be reduced, and the endurance time can be increased. At the same time, the weight reduction is also conducive to improving the flexibility of flight to adapt to more environments, so that the aircraft can be used in military reconnaissance and environmental monitoring and other fields, expanding the application scope of bionic flapping-wing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative labor.

[0024] Figure 1 This is a schematic diagram of the structure of a bionic butterfly aircraft in an embodiment of the present invention;

[0025] Among them, 1. drive system; 2. control system; 3. power supply; 4. wings; 5. wing membrane; 6. wing veins; 7. support. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The purpose of the present invention is to provide a bionic butterfly aircraft and a design method thereof to solve the problems existing in the prior art. By designing the wings, the weight of the wings can be reduced to improve the aerodynamic efficiency and the flight time.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Please refer to Figure 1As shown, a bionic butterfly aircraft is provided, including a driving system 1, wings 4, a control system 2 and a power supply 3. The driving system 1 is located at the head of the bionic butterfly. Wings 4 are arranged on both sides of the driving system 1. The overall shape of the wings 4 is determined according to the bionic butterfly wings 4. The wings 4 are transmission-connected to the driving system 1. The wings 4 are driven by the output shaft of the driving system 1 to swing around the output shaft, thereby simulating the movement of the wings 4. The control system 2 is electrically connected to the driving system 1. The control system 2 is used to control the output movement of the driving system 1, and then control the movement of the wings 4. The control system 2 and the driving system 1 are both electrically connected to the power supply 3. The power supply 3 uses a small battery to provide power for the control system 2 and the driving system 1 while reducing weight and space occupancy. In this embodiment, the wings 4 include wing membranes 5 and multiple wing veins 6, the multiple wing veins 6 are arranged on the wing membrane 5 in a divergent shape, the collecting end of the multiple wing veins 6 close to each other is arranged close to the driving system 1, the collecting end of the multiple wing veins 6 is transmission-connected to the driving system 1, and the divergent ends of the multiple wing veins 6 extend to the edge of the wing membrane 5. The arrangement of the wing membrane 5 and the wing veins 6 simplifies the structure of the wing 4, and the design of multiple wing veins 6 being arranged on the wing membrane 5 in a divergent shape can reduce the weight of the structure while ensuring the structural strength of the wing 4. As the weight of the wing 4 is reduced, the aerodynamic efficiency can be effectively improved, the flight energy consumption can be reduced, and the endurance time can be increased. At the same time, the weight reduction is also conducive to improving the flexibility of the flight to adapt to more environments, so that the aircraft can be applied to military reconnaissance and environmental monitoring and other fields, expanding the application range of bionic flapping-wing aircraft.

[0030] In this embodiment, multiple wing veins 6 share an endpoint, which is in transmission connection with the drive system 1; in other embodiments, the collecting ends of multiple wing veins 6 can be commonly connected to a connecting member, which is in transmission connection with the drive system 1. The shape of the connecting member is not limited and can be rod-shaped or plate-shaped, and is intended to connect the drive system 1 and the wing veins 6.

[0031] In this embodiment, the wing membrane 5 is made of PET film, so that the wing 4 is a flexible wing. Compared with the rigid wing, the flexible wing can generate greater aerodynamic force and anti-interference ability, thereby improving the flight performance of the aircraft.

[0032] In this embodiment, the wing veins 6 are made of carbon fiber rods, so that the overall wing 4 has good strength, rigidity and dynamic load-bearing capacity, can work stably when flapping, and further reduce the weight of the wing 4.

[0033] In this embodiment, the driving system 1 is a dual-axis servo, and the two output shafts of the dual-axis servo are independently controlled, and the two output shafts of the dual-axis servo are respectively connected to the wings 4 on both sides; in other embodiments, two servos can also be selected to control the wings 4 on both sides respectively; by selecting a servo as the driving system 1, the controllable degree of freedom of the system is greatly increased, and by making full use of the advantage that the position and speed of the servo can be controlled at the same time, the flight efficiency is optimized, and three-axis attitude angle decoupling control and high-maneuverability flight control such as gliding, diving and backflipping are realized.

[0034] The end surface of the outer shell of the driving system 1 corresponding to the incoming flow direction should be designed as a curved surface to reduce gas resistance.

[0035] In this embodiment, the control system 2 is located in the chest and abdomen of the bionic butterfly, and the power supply 3 is located on the side of the control system 2 away from the drive system 1, so as to make full use of the space between the wings 4 on both sides and improve the space utilization rate. The control system 2 and the power supply 3 are connected to the drive system 1 through the support member 7, and the support member 7 provides support for the control system 2 and the power supply 3.

[0036] The support member 7 is made of carbon fiber rods to reduce the weight of the structure.

[0037] The control system 2 is provided with a visual sensor, which is electrically connected to the control system 2 and is used to obtain the surrounding environment and obstacles.

[0038] The wings 4 are provided with sensors for detecting ambient environment data, specifically, temperature and humidity sensors and air quality sensors, which are used to detect the temperature and humidity and air quality of the ambient environment respectively.

[0039] The control system 2 includes a main controller for processing sensor data and a PID controller for real-time control of the drive system 1. The main controller is programmed with a navigation algorithm. According to the processed sensor data, the optimal flight path and attitude adjustment are calculated, and control instructions are sent to the PID controller. The PID controller controls the drive system 1 to achieve attitude control. The attitude control includes pitch, roll and yaw control. The entire control process is autonomous cruising.

[0040] Autonomous cruise specifically includes the following aspects: first, path planning: planning the best flight path according to mission requirements and environmental information; second, attitude control: adjusting the servo through the PID controller to keep the bionic butterfly in a predetermined posture; third, obstacle avoidance: detecting obstacles through visual sensors, and adjusting the flight path to avoid obstacles; fourth, environmental adaptation: adjusting the flight strategy according to the environmental sensor data, such as changing the flight altitude or speed to adapt to different environmental conditions.

[0041] The present invention also provides a design method for the above-mentioned bionic butterfly aircraft, comprising the following steps:

[0042] S1: Select the butterfly to be imitated. In this embodiment, the morphopeleides (black-framed blue morpho butterfly) is selected, and the overall dimensions of the bionic butterfly aircraft are determined based on the butterfly as the design prototype;

[0043] S2: Determine the structure of the wing 4 of the bionic butterfly aircraft, and the specific determination method is: list feasible solutions, solution 1: arrange the wing veins 6 around the wing membrane 5, solution 2: arrange the wing veins 6 around the wing membrane 5 and arrange the wing veins 6 to diverge outward along the wing 4, and solution 3: arrange the wing veins 6 to diverge outward along the wing 4; use CATIA three-dimensional digital model to establish a geometric model, import the geometric model into MSC.Patran for finite element mesh division, establish a new material card for the finite element mesh, input its performance parameters, and assign corresponding properties to each material. The finite element model of the wing 4 structure was established and pre-processed by MSC.Patran, and after debugging, it was submitted to MSC.Nastran software for simulation calculation. The actual stress and allowable value, as well as the maximum deformation of each scheme, were compared. Through the finite element, the structural weight of the three schemes can be extracted, and the lightest scheme is obtained and adopted. The weight of scheme one is 11.28g, the weight of scheme two is 13.7g, and the weight of scheme three is 9.02g. Therefore, scheme three is adopted as the wing 4 structure of the bionic butterfly aircraft;

[0044] S3: In order to maximize the simulation, the software is used to perform aerodynamic analysis on the bionic butterfly aircraft. The specific aerodynamic analysis method is: set the flight speed, the flapping frequency of the wings, the flapping angle of the wings, the flip angle of the wings, and the upper and lower distribution ratio of the wings when flapping. For each variable, 5 groups of parameters are set to study the influence of the 5 variables on the aerodynamic force of the bionic butterfly aircraft during flight. When studying the influence of one variable on the aerodynamic force of the bionic butterfly aircraft, other variables are selected to be close to the parameters of the normal flight of the butterfly, so that the research is more reasonable; the butterfly is obtained by observing the normal flight of the butterfly The parameters during normal flight are: speed of 1 m / s, normal flapping frequency of 6H, normal flapping angle of 90 degrees, normal flipping angle of 60 degrees, and the upper and lower distribution ratio of flapping angle is 2:1; specifically, the five groups of parameters set by the five variables in this embodiment are: flight speed (m / s) is 0, 0.5, 1, 1.5, 2; flapping frequency (Hz): 2, 4, 6, 8, 10; flapping angle (°): 90, 105, 120, 135, 150; flipping angle (°): 30, 45, 60, 75, 90; flapping angle distribution ratio: 1:2, 2:3, 1:1, 3:2, 2:1;

[0045] The software used in this step is XFlow software. In the calculation process, the role of the wings 4 is mainly considered, and the influence of the drive system 1, power supply 3, and control system 2 on the aerodynamic force is ignored; the calculation domain type selects the virtual wind tunnel, and the calculation domain size is determined. The span of the calculation model in this paper is about 0.5m, and the fuselage length is about 0.213m. While ensuring the calculation accuracy, the calculation amount can be reduced as much as possible. The length, width and height of the calculation domain are set to 10 times the maximum length direction, that is, the calculation domain is a cube with a length, width and height of 5 meters;

[0046] Specifically, the model of the bionic butterfly aircraft is imported into the XFLOW software. Due to the problem of compliance when setting the motion mode, the x-axis direction is set to the flight direction of the butterfly, that is, the incoming flow direction, the Z direction is the span direction of the butterfly's wings 4, and the Y direction is the vertical upward direction. The motion mode of wing 4 is set to forced motion. Different flapping motion equations and different flipping motion equations of wing 4 are set in the angle function according to different needs. The simulation time is set to 0.6s, and the simulation time is selected to be the time of three motion cycles. The solution scale is set to 0.1m, and the encryption algorithm selects adaptive encryption. The target solution scale is 0.0125, the wake encryption scale is 0.0125m, and the frame frequency is 50Hz. Calculation is performed according to this scheme;

[0047] S4: In order to maximize the simulation, the flight control simulation of the bionic butterfly aircraft is carried out using software, mainly attitude control simulation. Attitude control mainly includes pitch angle control, roll angle control and yaw angle control. The simulation model is mainly composed of the desired attitude angle input, PID control, aerodynamic model and motion model. The constructed model is simulated and analyzed in the Simulink environment. The response is shown by adjusting the PID control law to analyze the pitch angle, roll angle, yaw angle step response and control simulation.

[0048] S5: Determine the final design solution based on whether the simulation results meet expectations. If they meet expectations, optimize the design data and re-simulate.

[0049] The present invention is to achieve high biomimetic performance, fully understand the flight mechanism of biological butterflies, including its motion decomposition, variable control, etc., establish a bionic butterfly aircraft dynamics model based on the clap-fling flight principle, and on this basis, analyze the aerodynamic characteristics, motion form, attitude control, variable parameters and other fields under the motion mode of the biological butterfly, and simultaneously adopt dynamic equations, strip theory, XFLOW aerodynamic software analysis, etc. Establish a basic coordinate system and a wing 4 coordinate system adapted to the bionic butterfly aircraft, use the motion equations of the flapping angle and the flip angle to control its flight attitude, establish an aerodynamic model and an aerodynamic torque model of the bionic butterfly aircraft, analyze the influence of the wing 4 motion parameters of the bionic butterfly aircraft on its aerodynamic force and aerodynamic torque during its flight, finally establish a dynamic model of the bionic butterfly aircraft, and use a classic PID controller to simulate the attitude control of the bionic butterfly aircraft.

[0050] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0051] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0052] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A bionic butterfly aircraft, characterized in that: It includes a driving system, wings, a control system and a power supply. The driving system is located at the head of a bionic butterfly. The wings are arranged on both sides of the driving system. The wings are transmission-connected to the driving system. The control system is electrically connected to the driving system. Both the control system and the driving system are electrically connected to the power supply. The wings include a wing membrane and a plurality of wing veins. The plurality of wing veins are arranged on the wing membrane in a divergent shape. The converging end of the plurality of wing veins close to each other is arranged close to the driving system. The converging end of the plurality of wing veins is transmission-connected to the driving system.

2. The bionic butterfly aircraft according to claim 1, characterized in that: The wing membrane is a PET film.

3. The bionic butterfly flying machine according to claim 2, characterized in that: The wing veins are carbon fiber rods.

4. The bionic butterfly aircraft according to claim 1, characterized in that: The driving system is a dual-axis steering gear, and two output shafts of the dual-axis steering gear are respectively transmission-connected to the wings located on both sides.

5. The bionic butterfly flying machine according to claim 1, characterized in that: The control system is located at the chest and abdomen of the bionic butterfly, the power supply is located at a side of the control system away from the drive system, and both the control system and the power supply are connected to the drive system via a support.

6. The bionic butterfly flying machine according to claim 5, characterized in that: The support member is a carbon fiber rod.

7. The bionic butterfly flying machine according to claim 1, characterized in that: The control system is provided with a visual sensor, and the visual sensor is electrically connected to the control system.

8. The bionic butterfly flying machine according to claim 1, characterized in that: The wings are provided with sensors for detecting ambient temperature, humidity and air quality data.

9. The bionic butterfly flying machine according to claim 7 or 8, characterized in that: The control system includes a main controller for processing sensor data and a PID controller for real-time control of the drive system.

10. A method for designing a bionic butterfly aircraft, characterized in that: Used for designing a bionic butterfly aircraft as described in any one of claims 1 to 9, The following steps are involved: S1: Select the butterfly to be imitated, and determine the dimensions of the bionic butterfly aircraft based on the butterfly as the design prototype; S2: Determine the wing structure of the bionic butterfly aircraft; S3: Use software to perform aerodynamic analysis on the bionic butterfly aircraft; S4: Use software to simulate the flight control of the bionic butterfly aircraft; S5: Determine the final design plan.

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