昆虫自由飞行参数的双棱镜虚拟双目测量

通过像机前加一个双棱镜实现单像机的虚拟双目拍摄,根据立体视觉原理可以获取空间点三维信息,该装置被用于测量昆虫自由飞行运动参数。如果双棱镜和像机摆放得当,可以简化立体视觉测量中对应点匹配这一最难步骤。实验获得了蜻蜓直飞过程中的一系列运动参数,将这些参数结合起来考察对于研究昆虫飞行机理非常有意义。特别地,我们对昆虫飞行中翅膀的柔性效应进行了初步讨论。     

飞行器变后掠过程非定常气动特性形成机理

可变体飞行器变后掠过程中的时变气动力与力矩特性对于飞行安全具有重要意义,是亟待深入研究的基础问题.通过风洞实验对其开展了研究,揭示了可变体飞行器变后掠引起的气动特性动态迟滞现象及滞回环大小与方向的影响因素.基于风洞实验结果和力学中一些重要概念,提出了3种物理效应:流场迟滞效应、附加运动效应、固壁牵连效应,以此定性与定量论证了可变体飞行器变后掠过程中非定常气动特性的形成机理.除了能解释实验现象,这一机理研究亦可用于后续可变体飞行器变后掠过程中的气动特性建模.     

有序熔楔和转捩

本文研究烧蚀表面上的一种尖楔状沟槽,简称熔楔。实验表明,熔楔是边界层转捩区的一种烧蚀现象;在蜂蜡和一些高温材料的球头上,熔楔排列有序,形成规则图象。在所实验的参数范围内,熔楔的条数保持在20条左右,不随来流马赫数、球头半径和烧蚀材料类型不同而改变。在分析研究熔楔内部结构和外流条件的基础上,本文提出熔楔形成机理和内外流动模型的设想,并对熔楔的形态、分布以及由它引导出菱形花纹等现象作了解释。     

基于van Genuchten模型的非饱和土非线性抗剪强度研究

为了更直观和全面地揭示非饱和土的抗剪强度变化规律,针对土体剪切破坏面上抗剪强度与法向应力呈非线性关系以及基质吸力关联摩擦角随基质吸力改变呈非线性变化这两种实验现象,结合vanGenuchten土水特征曲线模型,提出了非饱和土的非线性抗剪强度包络壳模型,进而推导得出了基于土水特征曲线(SWCC)相关参数的非饱和土非线性抗剪强度计算公式。研究表明:模型中各参数较易获取且无须增加额外的试验;与Fredlund包络(平)面模型相比,本文模型参数获取过程更为客观,可有效保证计算的唯一性和准确性;通过与已有文献所给试验结果进行对比分析,本文模型的适用性与可靠性得到了验证,相较于著名的Fredlund非饱和土抗剪强度计算公式,由本文方法给出的非线性抗剪强度与土体真实抗剪强度更为接近。     

基于多尺度模型解释固体中的挠曲电效应

挠曲电效应是一种跨尺度的多场耦合现象。当前的宏观挠曲电理论均是基于应变梯度局部破坏晶体反演对称这一微观机理对该现象进行唯象描述。该宏观理论与基于晶格动力学及密度泛函理论的微观挠曲电理论模型之间存在较大差异。难以将两者结合用以跨尺度地研究材料中的挠曲电效应。针对该现状,本文基于前人提出的原子场理论,建立了一种新的多尺度挠曲电模型。并在该多尺度模型框架下解释了应变梯度诱发极化的微观机理。一方面,与基于连续介质力学的唯象理论不同,本文从材料微结构演化的角度推导了原子位移与极化的关系。另一方面,与通过晶格波假设原子位移的微观理论不同,本文得到的极化表达式更加真实和广义地解释了挠曲电效应。其能够适用于材料边界存在机械力作用,材料内部存在缺陷等复杂的情况。本文所建立的多尺度挠曲电模型能够为后续多尺度挠曲电效应的研究提供一些思路。     

机械系统中摩擦模型的研究进展

摩擦现象在机械系统中的作用日益突出, 合理地解决机械系统中摩擦环节尤其是非线性摩擦环节的制约问题 已成为当前研究的重点. 由于摩擦的复杂性, 很难从机理上获得其准确唯一的数学模型, 迄今已提出的摩擦模 型有数十种. 鉴于目前机械系统中摩擦建模的发展状况, 首先描述了几种重要的摩擦现象, 如库仑摩擦、黏性 摩擦、Stribeck效应、预滑动摩擦、可变的静态摩擦力和摩擦记忆效应等. 其次, 系统地介绍了几种较为重要的、 常用的摩擦模型, 包括6种静态摩擦模型和7种动态摩擦模型, 并对每一种模型的构成, 特点和适用范围等 进行了较为详细地论述. 比较而言, 静态摩擦模型结构简单, 参数辨识容易, 但是无法描述摩擦的动态特性, 动态摩擦模型能够比较全面的描述摩擦现象, 但结构复杂, 参数辨识难度较大. 再次, 简要概述了摩擦建模 对机械系统动力学行为的影响, 以及在高精度定位系统的控制中的作用. 最后, 针对当前机械系统中摩擦建 模方面存在的一些不足提出了几点展望. 为今后摩擦模型的选用和新摩擦模型的建立提供了参考.     

高超声速飞行器气动热关联换算方法研究

气动热风洞实验是地面研究和预测飞行器气动热环境的重要手段之一, 但由于风洞实验模拟能力的限制, 风洞实验的流场参数和模型的几何尺度都会与实际飞行情况存在一定的差别, 导致地面风洞实验中得到的模型表面气动加热率数据无法直接用于飞行条件下的热环境预测和热防护设计. 以往通过针对具体飞行器的试验结果进行数据拟合后外插的气动热关联换算方法指向性较强, 没有考虑到气动热的具体影响参数, 存在一定局限性, 难以外推应用于其他外形的飞行器. 为解决通过气动热风洞实验数据外推预测飞行条件下气动热的技术难题, 基于无量纲NS方程和边界层理论分析研究了影响气动热的主要参数, 并通过推导化简边界层近似解热流公式, 针对层流流态建立了气动热关联换算方法, 可以考虑当地边界层外缘参数的影响, 具有一定通用性. 在此基础上, 利用建立的方法将Reentry-F飞行器缩比模型的风洞实验数据换算到该飞行器飞行条件下的典型工况, 并与飞行测量结果进行了比较, 外推预测结果与飞行测量结果符合较好, 表明建立的关联方法可以用于气动热风洞实验数据的外推换算.      

一种用于研究鹰蛾悬停飞行的扑翼实验装置

研制了一套新型的能够在空气中模拟鹰蛾悬停飞行的扑翼模型实验装置。装置由模型翼面和主体、舵机驱动单元、运动控制与检测、测力天平和采集系统等五部分构成。模型在计算机的控制下按照鹰蛾悬停飞行的活体观测数据完成扑翼运动。与此同时,系统采集得到扑翼的实际运动曲线以及模型所受到的非定常气动力。实验结果表明,模型扑翼运动能很好地复现鹰蛾悬停飞行的动态过程;所测得的气动升力与鹰蛾的悬停条件相一致;由模型实验的升阻力数据所得的挥拍面前倾角也与活体观测结果相吻合。该模拟实验装置运动调节灵活,执行便捷,操控可靠,且能够测量空气中的微小非定常气动力,这为进一步深入研究扑翼运动的机理提供了方便的手段。     

高超声速飞行器气动热关联换算方法研究

气动热风洞实验是地面研究和预测飞行器气动热环境的重要手段之一,但由于风洞实验模拟能力的限制,风洞实验的流场参数和模型的几何尺度都会与实际飞行情况存在一定的差别,导致地面风洞实验中得到的模型表面气动加热率数据无法直接用于飞行条件下的热环境预测和热防护设计.以往通过针对具体飞行器的试验结果进行数据拟合后外插的气动热关联换算方法指向性较强,没有考虑到气动热的具体影响参数,存在一定局限性,难以外推应用于其他外形的飞行器.为解决通过气动热风洞实验数据外推预测飞行条件下气动热的技术难题,基于无量纲NS方程和边界层理论分析研究了影响气动热的主要参数,并通过推导化简边界层近似解热流公式,针对层流流态建立了气动热关联换算方法,可以考虑当地边界层外缘参数的影响,具有一定通用性.在此基础上,利用建立的方法将Reentry-F飞行器缩比模型的风洞实验数据换算到该飞行器飞行条件下的典型工况,并与飞行测量结果进行了比较,外推预测结果与飞行测量结果符合较好,表明建立的关联方法可以用于气动热风洞实验数据的外推换算.     

岩石动态巴西圆盘实验中的过载现象

巴西圆盘实验是国际岩石力学与工程学会（ISRM）推荐的测量岩石静态拉伸强度的方法之一,也是该学会推荐的唯一测量岩石动态拉伸强度的方法。但是巴西圆盘实验得到的静态或者动态拉伸强度往往较真实值偏大,其中一个原因是所谓的过载现象,而且其相应的过载效应在动态巴西圆盘测试中尤为明显。为探究岩石材料动态劈裂拉伸强度的过载效应机理及其率相关性,利用SHPB实验装置开展了不同加载率条件下的动态巴西圆盘实验,对岩石材料劈裂拉伸强度的过载特性进行了定量分析;结合颗粒流程序进行了相关实验的数值模拟,得到了圆盘破裂的微观过程。结果表明:（1）动态巴西圆盘实验得到的岩石拉伸强度存在明显的过载现象,圆盘试样拉伸强度的过载比随加载率增加呈对数形式增加;（2）依据动态拉伸强度实验结果对模型参数引入率相关性后,模拟观察到的过载效应更加贴近实验观测。这些结果表明巴西圆盘实验中拉伸强度的过载现象是客观存在的,其机理与试样的圆盘构型以及测试方法有关。结合实验和数值结果,解释了巴西圆盘实验的过载机理,证明了动态巴西圆盘实验修正的必要性并给出了相应的方案,以获取岩石材料的真实动态拉伸强度。     

Smoke visualization of free-flying bumblebees indicates independent leading-edge vortices on each wing pair

It has been known for a century that quasi-steady attached flows are insufficient to explain aerodynamic force production in bumblebees and many other insects. Most recent studies of the unsteady, separated-flow aerodynamics of insect flight have used physical, analytical or numerical modeling based upon simplified kinematic data treating the wing as a flat plate. However, despite the importance of validating such models against living subjects, few good data are available on what real insects actually do aerodynamically in free flight. Here we apply classical smoke line visualization techniques to analyze the aerodynamic mechanisms of free-flying bumblebees hovering, maneuvering and flying slowly along a windtunnel (advance ratio: −0.2 to 0.2). We find that bumblebees, in common with most other insects, exploit a leading-edge vortex. However, in contrast to most other insects studied to date, bumblebees shed both tip and root vortices, with no evidence for any flow structures linking left and right wings or their near-wakes. These flow topologies will be less efficient than those in which left and right wings are aerodynamically linked and shed only tip vortices. While these topologies might simply result from biological constraint, it is also possible that they might have been specifically evolved to enhance control by allowing left and right wings to operate substantially independently. Electronic supplementary material  The online version of this article (doi:) contains supplementary material, which is available to authorized users.     

昆虫飞行的高升力机理

对近年来关于昆虫产生非定常高升力的研究进行了综述和归纳.这方面的工作对生物学研究和微型飞行器等微型机械的仿生设计有重要意义.研究表明:果蝇等昆虫翅膀的拍动运动可产生很大的非定常升力,其平均值是定常值的2~3倍,足够平衡昆虫的重量,并有较大的富余用于机动飞行;产生高升力有三个因素:一是拍动开始阶段翅的快速加速运动,二是拍动中的不失速机制,三是拍动结束阶段翅的快速上仰运动.人们从能耗的角度考察了这些非定常高升力机制的正确性和可行性.当作悬停飞行的果蝇用以上机制产生平衡其重量的升力时,其比功率(支持单位身体质量所需的功率)约为29W/kg, 生化/机械效率约为17%. 这些值与人们基于对昆虫肌肉力学特性的研究所预估的值接近.果蝇前飞时,其比功率随速度变化的曲线是一J形曲线,而不是象飞机或鸟的那样是一U形曲线;这与人们基于昆虫新陈代谢率的测量数据所推断的结果一致.对于蜻蜒等(功能上)有前、后两对翅膀的昆虫,有以下初步结果:翅的下拍主要产生升力,上挥主要产生推力;下拍时的平均升力系数可达2~3,十分大,上挥时的平均推力系数可达1~2, 也很大,它们主要由非定常效应产生;前、后翅的相互干扰并未起增大升力和推力的作用,反而有一定的不利作用.      

The aerodynamic forces and pressure distribution of a revolving pigeon wing

The aerodynamic forces acting on a revolving dried pigeon wing and a flat card replica were measured with a propeller rig, effectively simulating a wing in continual downstroke. Two methods were adopted: direct measurement of the reaction vertical force and torque via a forceplate, and a map of the pressures along and across the wing measured with differential pressure sensors. Wings were tested at Reynolds numbers up to 108,000, typical for slow-flying pigeons, and considerably above previous similar measurements applied to insect and hummingbird wing and wing models. The pigeon wing out-performed the flat card replica, reaching lift coefficients of 1.64 compared with 1.44. Both real and model wings achieved much higher maximum lift coefficients, and at much higher geometric angles of attack (43°), than would be expected from wings tested in a windtunnel simulating translating flight. It therefore appears that some high-lift mechanisms, possibly analogous to those of slow-flying insects, may be available for birds flapping with wings at high angles of attack. The net magnitude and orientation of aerodynamic forces acting on a revolving pigeon wing can be determined from the differential pressure maps with a moderate degree of precision. With increasing angle of attack, variability in the pressure signals suddenly increases at an angle of attack between 33° and 38°, close to the angle of highest vertical force coefficient or lift coefficient; stall appears to be delayed compared with measurements from wings in windtunnels.     

Influence of wing flexibility on the aerodynamic performance of a tethered flapping bumblebee

The sophisticated structures of flapping insect wings make it challenging to study the role of wing flexibility in insect flight. In this study, a mass-spring system is used to model wing structural dynamics as a thin, flexible membrane supported by a network of veins. The vein mechanical properties can be estimated based on their diameters and the Young's modulus of cuticle. In order to analyze the effect of wing flexibility, the Young's modulus is varied to make a comparison between two different wing models that we refer to as flexible and highly flexible. The wing models are coupled with a pseudo-spectral code solving the incompressible Navier–Stokes equations, allowing us to investigate the influence of wing deformation on the aerodynamic efficiency of a tethered flapping bumblebee. Compared to the bumblebee model with rigid wings, the one with flexible wings flies more efficiently, characterized by a larger lift-to-power ratio.     

A simulation-based study on longitudinal gust response of flexible flapping wings

Winged animals such as insects are capable of flying and surviving in an unsteady and unpredictable aerial environment. They generate and control aerodynamic forces by flapping their flexible wings. While the dynamic shape changes of their flapping wings are known to enhance the efficiency of their flight, they can also affect the stability of a flapping wing flyer under unpredictable disturbances by responding to the sudden changes of aerodynamic forces on the wing. In order to test the hypothesis, the gust response of flexible flapping wings is investigated numerically with a specific focus on the passive maintenance of aerodynamic forces by the wing flexibility. The computational model is based on a dynamic flight simulator that can incorporate the realistic morphology, the kinematics, the structural dynamics, the aerodynamics and the fluid–structure interactions of a hovering hawkmoth. The longitudinal gusts are imposed against the tethered model of a hovering hawkmoth with flexible flapping wings. It is found that the aerodynamic forces on the flapping wings are affected by the gust, because of the increase or decrease in relative wingtip velocity or kinematic angle of attack. The passive shape change of flexible wings can, however, reduce the changes in the magnitude and direction of aerodynamic forces by the gusts from various directions, except for the downward gust. Such adaptive response of the flexible structure to stabilise the attitude can be classified into the mechanical feedback, which works passively with minimal delay, and is of great importance to the design of bio-inspired flapping wings for micro-air vehicles.     

Unsteady bio-fluid dynamics in flying and swimming

Flying and swimming in nature present sophisticated and exciting ventures in biomimetics, which seeks sustainable solutions and solves practical problems by emulating nature's time-tested patterns, functions, and strategies. Bio-fluids in insect and bird flight, as well as in fish swimming are highly dynamic and unsteady; however, they have been studied mostly with a focus on the phenomena associated with a body or wings moving in a steady flow. Characterized by unsteady wing flapping and body undulation, fluid-structure interactions, flexible wings and bodies, turbulent environments, and complex maneuver, bio-fluid dynamics normally have challenges associated with low Reynolds number regime and high unsteadiness in modeling and analysis of flow physics. In this article, we review and highlight recent advances in unsteady bio-fluid dynamics in terms of leading-edge vortices, passive mechanisms in flexible wings and hinges, flapping flight in unsteady environments, and micro-structured aerodynamics in flapping flight, as well as undulatory swimming, flapping-fin hydrodynamics, body–fin interac-tion, C-start and maneuvering, swimming in turbulence,collective swimming, and micro-structured hydrodynamics in swimming. We further give a perspective outlook on future challenges and tasks of several key issues of the field.     

昆虫飞行的空气动力学

昆虫是最早出现、数量最多和体积最小的飞行者. 它们能悬停、跃升、急停、快速加速和转弯, 飞行技巧十分高超. 由于尺寸小, 因而翅膀的相对速度很小, 从而进行上述飞行所需的升力系数很大. 但昆虫翅膀的雷诺数又很低. 它们是如何在低雷诺数下产生高升力的, 是流体力学和生物学工作者都十分关心的问题. 近年来这一领域有了许多研究进展. 该文对这些进展进行综述, 并对今后工作提一些建议. 因2005 年前的工作已在几篇综述文章有了详细介绍, 该文主要介绍2005 年以来的工作. 首先简述昆虫翅的拍动运动及昆虫绕流的基本方程和相似参数; 然后对2005 年之前的工作做一简要回顾. 之后介绍2005 年后的进展, 依次为: 运动学观测; 前缘涡; 翅膀柔性变形及皱褶的影响; 拍动翅的尾涡结构; 翼/身、左右翅气动干扰及地面效应; 微小昆虫; 蝴蝶与蜻蜓; 机动飞行. 最后为对今后工作的建议.      

膜扑翼飞行器的变形研究

最近昆虫翼的变形成了研究热点,而扑翼飞行器的变形力学研究却几乎无人问津.然而,无论昆虫、鸟类还是扑翼飞行器在飞行时,翼的变形都是存在的,要精确计算翼扑动产生的气动力,必须考虑其变形.本文比较了导致变形产生的膜扑翼飞行器的惯性力和气动力在一个周期中的变化情况,发现它们的峰值比值为2左右,然后提出了在随体坐标系中的固支边界条件,采用有限元法计算了惯性力和气动力分别对变形的影响,发现扑翼飞行器的气动力对变形的影响是不可忽略的重要因素,而惯性力与气动力的合力引起的最大正变形发生在下扑初始阶段,最大负变形发生在上扑初始阶段.本文为扑翼飞行器的设计提供了力学分析基础.     

仿生扑翼飞行机器人翅型的研制与实验研究

模仿昆虫和小鸟飞行的扑翼飞行机器人将举升、悬停和推进功能集于一个扑翼系统,与固定翼和旋翼完全不同,因此研究只能从生物仿生开始。生物飞行的极端复杂性使得进行完整和精确的扑翼飞行分析非常复杂,因此本文在仿生学进展基础上,通过一些合适的假设和简化,建立了仿生翅运动学和空气动力学模型,并以此为基础研制了多种翅型。研制了气动力测量实验平台,对各种翅型进行了实验研究。实验结果表明,研制的翅型都能产生一定的升力,其中柔性翅具有较好的运动性能和气动性能,并且拍动频率和拍动幅度对升力有较大影响。     

NUMERICAL SIMULATION OF INSECT FLIGHT

In the non-inertial coordinates attached to the model wing, the two-dimensional unsteady flow field triggered by the motion of the model wing, similar to the flapping of the insect wings, was numerically simulated. One of the advantages of our method is that it has avoided the difficulty related to the moving-boundary problem. Another advantage is that the model has three degrees of freedom and can be used to simulate arbitrary motions of a two-dimensional wing in plane only if the motion is known. Such flexibility allows us to study how insects control their flying. Our results show that there are two parameters that are possibly utilized by insects to control their flight: the phase difference between the wing translation and rotation, and the lateral amplitude of flapping along the direction perpendicular to the average flapping plane.