熊蜂用于控制飞行的气动力和力矩

采用计算流体力学方法研究熊蜂用于控制飞行的气动力和力矩．结果表明,悬停时,每1个翅膀运动参数主要控制1个或2个气动力和力矩．当左右翅运动学参数对称变化时,改变拍动幅角（或拍动频率）主要可使垂直力改变．改变平均拍动角主要可使俯仰力矩改变．改变拍动攻角,上拍和下拍攻角等值同向变化时,主要可使垂直力改变;等值反向变化时,主要可使水平力改变．改变转动模式,当翅膀前拍靠近昆虫腹部和后拍靠近昆虫背部的转动模式相同变化时,主要可使垂直力改变;当翅膀前拍靠近昆虫腹部和后拍靠近昆虫背部的转动模式相反变化时,主要可使水平力和俯仰力矩改变．改变转动时间对气动力和力矩几乎无影响．当左右翅运动学参数反对称变化时,改变拍动幅角（或拍动频率）主要可使滚转力矩改变．改变拍动攻角,上拍和下拍攻角等值同向变化时,主要可使滚转力矩改变;等值反向变化时,主要可使偏航力矩改变．改变转动模式,当翅膀前拍靠近昆虫腹部和后拍靠近昆虫背部的转动模式相同变化时,主要可使侧向力和滚转力矩改变;当翅膀前拍靠近昆虫腹部和后拍靠近昆虫背部的转动模式相反变化时,主要可使偏航力矩改变．改变翅膀运动参数可分别控制3个方向的力矩及垂直力．改变拍动角可以改变垂直力;改变拍动角的平均位置可以改变俯仰力矩;反对称改变左右翅的拍动攻角可以改变滚转力矩;反对称改变拍动起始时刻可以改变偏航力矩．通过对翅膀运动参数的适当调整熊蜂即可实现快速转弯飞行．     

昆虫拍动翅的非定常变形对其气动力的影响

通过在动态变形网格上求解N-S方程的方法,研究了昆虫拍动翅的非定常变形对其气动力的影响．其中,拍动翅的扭转变形对气动力影响很小,拱形变形则会产生显著的影响,扭转和拱形组合变形的效果与拱形变形单独的效果基本相同．在6%拱形和20度扭转组合变形的情况下（此为对大量昆虫观察所得到的典型值）,相对于无变形平板翅,升力增加了10～20%,升阻比增加了约10%．翅膀的变形可增大最大升力系数;同时,可减小飞行的能耗,例如,对于做悬停飞行的熊蜂,其翅膀的动态变形（6%拱形和20度扭转组合变形）使其飞行中的能耗比无变形情况降低了约16%．     

非完整性多体编队运动的一种无源化控制方法

讨论了非完整性多体编队运动问题．首先利用动态反馈将单个体的动力学模型线性化为2个三阶输入输出积分链的形式;然后提出一种带有单个体间阻尼注入的非连续分布式控制律,并利用Liapunov方法证明了在该控制律作用下闭环系统的渐进稳定性;最后通过一个平面机器人的编队运动仿真验证了所提方法的有效性．     

无约束平面框架结构冲击响应分析(Ⅱ)——数值算例分析

利用第(Ⅰ)部分推得的公式,对一无约束平面框架结构受运动刚体冲击时的瞬态响应进行了数值计算分析．计算了结构与运动刚体之间的冲击力时程曲线、梁中的剪力及弯矩分布、轴力杆件中的轴力分布．分析了杆中的纵波、Timoshenko梁中弯曲波及剪切波的传播现象．数值分析表明:冲击力的延续时间主要是由挠曲波及纵波控制的;在结构的冲击响应分析中,梁的剪切效应不容忽略．     

横观各向同性电磁弹性介质中裂纹对SH波的散射

研究横观各向同性电磁弹性介质中裂纹和反平面剪切波之间的相互作用．根据电磁弹性介质的平衡运动微分方程、电位移和磁感应强度微分方程,得到SH波传播的控制场方程．引入线性变换,将控制场方程简化为Helmholtz方程和两个Laplace方程A·D2通过Fourier变换,并采用非电磁渗透型裂面边界条件,得到了柯西奇异积分方程组．利用Chebyshev多项式求解积分方程,得到应力场、电场和磁场以及动应力强度因子的表达,并给出了数值算例．     

自由下落猫的非完整运动规划最优控制研究

研究猫在自由下落时姿态运动规划问题．自由落体的猫在空中转体运动由于角速度不可积,姿态运动方程呈现为非完整形式．当系统角动量为0时,导出由两个对称刚体组成的自由下落猫的非完整姿态运动方程．利用该非完整方程系统的控制问题可转化为无漂移系统的非完整运动规划问题．基于Ritz近似理论,给出自由落体猫姿态运动规划的Gauss-Newton算法．最后对自由落体猫作了数值仿真实验,仿真结果验证了该算法的有效性．     

梢涡流场中气泡轨迹及形态数值模拟

针对气泡在舰船尾迹涡流场运动特性,根据其是否为尾涡所捕获,将数值模拟过程分为两个阶段:准球状运动阶段和非球状运动阶段．分别应用单向耦合质点粒子追踪法（PTM）和边界元法（BEM）模拟这两个阶段,将第1阶段结束的物理量作为第2阶段的初始条件,从而完成整个数值模拟过程．在已有数值研究结果和实验数据基础上,探讨空化发生条件,追踪尾迹空泡运动轨迹,模拟尾迹气泡的运动、变形、溃灭等,以及被尾涡捕获后的撕裂等运动特性,旨在为优化设计尾流场提供参考．     

对称迭层矩形板的平面应力分析

常用的对称迭层板为各向异性板．根据平面应力问题的基本方程精确地用应力函数解法求得了各向异性板的一般解析解．推导出平面内应力和位移的一般公式,其中积分常数由边界条件来决定．一般解包括三角函数和双曲函数组成的解,它能满足4个边为任意边界条件的问题．还有代数多项式解,它能满足4个角的边界条件．因此一般解可用以求解任意边界条件下的平面应力问题．以4边承受均匀法向和切向载荷以及非均匀法向载荷的对称迭层方板为例,进行了计算和分析．     

昆虫翼拍动中受载变形的粘弹性本构模型

昆虫翼拍动受载时发生被动变形,被看作为有助于改善飞行性能的机制之一．决定这种被动变形大小的一个关键因素是昆虫翼的材料本构关系,至今缺乏研究．基于蜻蜓翼(离体)的应力松弛实验和模型翼拍动时受载变形的有限元数值分析,揭示了粘弹性本构关系是昆虫翼材料性能的合理描述,并研究了粘弹性参数对被动变形的影响．     

非传播孤立波及其相互作用的数值模拟

通过数值求解由Miles导出的目前公认的的非传播孤立波的控制方程——一个带复共轭项的非线性立方SchrLdinger方程,对非传播孤立波进行研究。讨论了Miles方程中的线性阻尼系数α的值,计算表明,线性阻尼α对形成稳定的非传播孤立波影响很大,Laedke等人关于非传播孤立波的稳定性条件只是一个必要条件,而不是充分条件。模拟了两个非传播孤立波的相互作用,数值模拟表明,两个波的作用模式依赖于系统的参数,对不同的初始扰动及其演化的计算表明,只有适当的初始扰动才能形成单个稳定的非传播孤立波,否则扰动可能消失或发展成多个孤立波。     

Stability of underwater periodic locomotion

Most aquatic vertebrates swim by lateral flapping of their bodies and caudal fins. While much effort has been devoted to understanding the flapping kinematics and its influence on the swimming efficiency, little is known about the stability (or lack of) of periodic swimming. It is believed that stability limits maneuverability and body designs/flapping motions that are adapted for stable swimming are not suitable for high maneuverability and vice versa. In this paper, we consider a simplified model of a planar elliptic body undergoing prescribed periodic heaving and pitching in potential flow. We show that periodic locomotion can be achieved due to the resulting hydrodynamic forces, and its value depends on several parameters including the aspect ratio of the body, the amplitudes and phases of the prescribed flapping.We obtain closedform solutions for the locomotion and efficiency for small flapping amplitudes, and numerical results for finite flapping amplitudes. This efficiency analysis results in optimal parameter values that are in agreement with values reported for some carangiform fish. We then study the stability of the (finite amplitude flapping) periodic locomotion using Floquet theory. We find that stability depends nonlinearly on all parameters. Interesting trends of switching between stable and unstable motions emerge and evolve as we continuously vary the parameter values. This suggests that, for live organisms that control their flapping motion, maneuverability and stability need not be thought of as disjoint properties, rather the organism may manipulate its motion in favor of one or the other depending on the task at hand.     

Effect of the wing shape on the thrust of flapping wing

Simulations of harmonically oscillating wings were performed using two-dimensional and three-dimensional boundary element method computer programs: the corresponding hydrodynamic forces were obtained by assuming potential flow. The maximum thickness of symmetric 4-digit NACA airfoils was varied in order to assess the effect of changing the foil shape on the generated thrust. It was found that the thrust coefficient per unit of wing mass decreases in magnitude when the thickness increases. The result indicates that, if the wing mass is fixed, its thickness has to be minimised in order to maximise the generated thrust. Another important finding is the dependence on the motion frequency, i.e. for a fixed foil thickness the thrust coefficient per unit of wing mass increases with the motion frequency. However, when the foil thickness becomes larger, the motion frequency effect on the generated thrust becomes less pertinent, i.e. the thrust range for a slender foil is larger than that of a thicker one over the same motion frequency range. The three-dimensional effect due to the wing spanwise shape was also investigated by changing the wing sweep angle and the influence on the generated thrust was insignificant within the range of investigated parameters. The outcome reinforces the idea that the function of swept wings for low-speed flyers, such as birds, is mainly structural as the sweep angle can be related to a desired aeroelastic response of the oscillating wing.     

Simulation of Aerodynamic Performances of Flexible Flapping Wing Airfoils北大核心CSCD

与固定翼相比,在低速、小Reynolds数条件下,扑翼飞行具有显著的气动性能优势,受到越来越多的重视。然而,目前对扑翼翼型的研究以刚性翼型为主,对柔性翼型气动性能认识还不清楚。该文建立了柔性椭圆翼型的流固耦合仿真模型,分析了不同风速、迎角下柔性椭圆翼型的周围流场、变形以及气动性能。仿真结果表明,较刚性翼型,柔性翼型延缓了尾涡脱落时间,有效降低升力扰动振荡频率;柔性翼型显著抑制了尾流流场的扰动,降低升力扰动振荡幅值,合适的弹性模量翼型使得扰动振荡完全消除。研究结果可为软飞行器气动设计提供参考。     

Flight Control of Biomimetic Air Vehicles Using Vibrational Control and Averaging

A combination of vibrational inputs and state feedback is applied to control the flight of a biomimetic air vehicle. First, a control strategy is developed for longitudinal flight, using a quasi-steady aerodynamic model and neglecting wing inertial effects. Vertical and forward motion is controlled by modulating the wings’ stroke and feather angles, respectively. Stabilizing control parameter values are determined using the time-averaged dynamic model. Simulations of a system resembling a hawkmoth show that the proposed controller can overcome modeling error associated with the wing inertia and small parameter uncertainties when following a prescribed trajectory. After introducing the approach through an application to longitudinal flight, the control strategy is extended to address flight in three-dimensional space.     

Stability study and control of helicopter blade flapping vibrations

The response of a two-degree-of-freedom, controlled, autoparametric system to harmonic excitations is studied and solved. The objective of this research is to investigate the effect of linear absorber on the vibrating system and the saturation control of a linear absorber to reduce vibrations due to rotor blade flapping motion. The method of multiple scale perturbation technique is applied to obtain the periodic response equation near the primary resonance in the presence of internal resonance of the system. The stability of the obtained numerical solution is investigated using both phase plane methods and frequency response equations. Variation of some parameters leads to the bending of the frequency response curves and hence to the jump phenomenon occurrence. The reported results are compared to the available published work.     

Application of fractional algorithms in the control of a robotic bird

In this paper, it is studied the dynamics of the robotic bird in terms of time response and robustness. It is analyzed the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird should allow testing strategies and different algorithms of control such as integer and fractional controllers.     

High-order sliding mode controller with backstepping design for aeroelastic systems

A nonlinear system for controlling flutter in an aeroelastic system is proposed. The dynamic model describes the plunge and pitch motion of a wing. Interacting nonlinear forces such as structural and aerodynamic forces cause destabilizing phenomena such as flutter and limit cycle oscillation on the wing. Aeroelastic models have a wing section with only a single trailing-edge control surface for suppressing limit cycle oscillation. When modeling a single control surface, the controller design can achieve trajectory control of either plunge displacement or pitch angle, but not both, and internal dynamics describe the residual motion in closed-loop systems. Internal dynamics of aeroelasticity depend on model parameters such as freestream velocity and spring constant. Since single control surfaces have limited effectiveness, this study used leading- and trailing-edge control surfaces to improve control of limit-cycle oscillation. Moreover, two control surfaces were used to provide sufficient flexibility to shape both the plunge and the pitch responses. In this study, high order sliding mode control (HOSMC) with backstepping design achieved system stability and eliminated limit cycle phenomenon. Compared to the conventional sliding mode control design, the proposed control law not only preserves system robustness, but also avoids chatter phenomenon. Simulation results show that the proposed controller effectively regulate the response to origin in state space even under saturated controller input.