| 869 | 12 | 154 |
| 下载次数 | 被引频次 | 阅读次数 |
可悬停扑翼飞行器模仿自然界定点滞空昆虫和鸟类的飞行特点，隐蔽性高、灵活机动、应用环境多样，具有突出的理论和实用价值，引起了世界范围的广泛关注。对可悬停扑翼飞行器的研究现状和发展方向进行了综合评述。首先总结了近年来最突出的研究成果，按照微扑翼尺寸分类分别介绍MAV、NAV、PAV尺度下可悬停扑翼微飞行器的样机构型、动力系统、质量分配与飞行性能，统计了升力、翼展、质量、扑翼幅值等重要参数，介绍了电机、压电和电磁驱动扑翼微飞行器最具代表性的研究工作；然后针对目前飞行器研究运用的升力产生原理、飞行稳定性分析、功耗效率优化、续航能力等关键技术进行了分析和总结；最后讨论了扑翼飞行器亟待突破的技术难题和未来发展方向。
Abstract：The hovering flapping-wing air vehicle mimics the flying characteristics of hovering insects and birds in nature, with the advantages of high concealment, flexible mobility and diverse application environments. It has outstanding theoretical and practical value, and has attracted extensive attention in the world. The research status and development direction of hovering flapping-wing air vehicle are comprehensively reviewed. Firstly, this paper summarizes the most outstanding research results in the world in recent years, and introduces the prototype configuration, power system, mass distribution and flight performance of hovering flapping-wing micro-aircraft at the scales of MAV, NAV, and PAV according to the size of the flapping wing. Important parameters such as lift, wingspan, mass, and flapping amplitude are highlighted. The most representative research work on flapping-wing micro-aircraft driven by motors, piezoelectrics and electromagnetics is introduced. Then, the key technologies such as lift generation principle, flight stability analysis, power consumption efficiency optimization and endurance capability are analyzed and summarized.Finally, the technical problems and future development direction of the flapping-wing aircraft are discussed.
[1]陈文元，张卫平.微型扑翼式仿生飞行器[M].上海：上海交通大学出版社，2010:2-8.
[2]张卫平，柯希俊.仿昆扑翼微型飞行器概念设计及应用[M].北京：国防工业出版社，2021:5-9.
[3]Phan H V,Park H C.Insect-inspired,tailless,hover-capable flapping-wing robots:recent progress,challenges,and future directions[J].Progress in Aerospace Sciences,2019,111:100573.
[4]Singh S,Zuber M,Hamidon M N,et al.Classification of actuation mechanism designs with structural block diagrams for flapping-wing drones:a comprehensive review[J].Progress in Aerospace Sciences,2022,132:100833.
[5]王晨阳，张卫平，邹阳.仿昆虫扑翼微飞行器研究现状与关键技术[J].无人系统技术，2018(4):1-16.
[6]Zhang J,Zhao N,Qu F.Bio-inspired flapping wing robots with foldable or deformable wings:a review[J].Bioinspiration&Biomimetics,2022:18(1):011002.
[7]Hassanalian M,Abdelkefi A.Classifications,applications,and design challenges of drones:a review[J].Progress in Aerospace Sciences,2017,91:99-131.
[8]Keennon M,Klingebiel K,Won H.Development of the nano hummingbird:a tailless flapping wing micro air vehicle[C].50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition,Tennessee,America,January 9-12,2012.
[9]Karásek M,Muijres F T,De Wagter C,et al.A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns[J].Science,2018,361(6407):1089-1094.
[10]Phan H V,Aurecianus S,Kang T,et al.KUBeetle-S:an insect-like,tailless,hover-capable robot that can fly with a low-torque control mechanism[J].International Journal of Micro Air Vehicles,2019,11:1-10.
[11]Tu Z,Fei F,Liu L,et al.Flying with damaged wings:the effect on flight capacity and bio-inspired coping strategies of a flapping wing robot[J].IEEE Robotics and Automation Letters,2021,6(2):2114-2121.
[12]Nguyen Q V,Chan W L.Development and flight performance of a bio-logically-inspired tailless flapping-wing micro air vehicle with wing stroke plane modulation[J].Bioinspiration&Biomimetics,2018,14(1):016015.
[13]Chin Y W,Kok J M,Zhu Y Q,et al.Efficient flapping wing drone arrests high-speed flight using post-stall soaring[J].Science Robotics,2020,5 (44):eaba2386.
[14]De Wagter C,Karásek M,de Croon G.Quad-thopter:tailless flapping wing robot with four pairs of wings[J].International Journal of Micro Air Vehicles,2018,10(3):244-253.
[15]Coleman D,Benedict M,Hrishikeshavan V,et al.Design,development and flight-testing of a robotic hummingbird[C].AHS 71st Annual Forum,Virginia,America,May 5-7,2015.
[16]Jeon J H,Cho H,Kim Y,et al.Design and analysis of the link mechanism for the flapping wing MAV using flexible multi-body dynamic analysis[J].International Journal of Micro Air Vehicles,2017,9(4):253-269.
[17]Deng H,Xiao S,Huang B,et al.Design optimization and experimental study of a novel mechanism for a hover-able bionic flapping-wing micro air vehicle[J].Bioinspiration&Biomimetics,2020,16(2):026005.
[18]Chen Z,Zhang W,Mou J,et al.Development of an insect-like flapping-wing micro air vehicle with parallel control mechanism[J].Applied Sciences,2022,12(7):3509.
[19]Chen Z,Zhang W,Mou J,et al.Horizontal take-off of an insect-like FMAV based on stroke plane modulation[J].Aircraft Engineering and Aero-space Technology,2022,94(7):1068-1077.
[20]Phan H V,Nguyen Q V,Truong Q T,et al.Stable vertical takeoff of an insect-mimicking flapping-wing system without guide implementing inherent pitching stability[J].Journal of Bionic Engineering,2012,9(4):391-401.
[21]Phan H V,Truong Q T,Park H C.Implementation of initial passive stability in insect-mimicking flappingwing micro air vehicle[J].International Journal of Intelligent Unmanned Systems,2015,3(1):18-38.
[22]Phan H V,Kang T,Park H C.Design and stable flight of a 21 g insect-like tailless flapping wing micro air vehicle with angular rates feedback control[J].Bioinspiration&Biomimetics,2017,12(3):036006.
[23]Phan H V,Aurecianus S,Au T K L,et al.Towards the long-endurance flight of an insect-inspired,tailless,two-winged,flapping-wing flying robot[J].IEEERobotics and Automation Letters,2020,5(4):5059-5066.
[24]Zhang J,Cheng B,Roll J A,et al.Direct drive of flapping wings under resonance with instantaneous wing trajectory control[C].2013 IEEE International Conference on Robotics and Automation,Karlsruhe,Germany,May 06-10,2013.
[25]Zhang J,Deng X.Resonance principle for the design of flapping wing micro air vehicles[J].IEEE Transactions on Robotics,2017,33(1):183-197.
[26]Zhang J,Fei F,Tu Z,et al.Design optimization and system integration of robotic hummingbird[C].2017IEEE International Conference on Robotics and Automation(ICRA),Singapore,May 29-June 03,2017.
[27]Nguyen Q V,Truong Q T,Park H C,et al.A motordriven flapping-wing system mimicking beetle flight[C].2009 IEEE International Conference on Robotics and Biomimetics(ROBIO),Guilin,China,December19-23,2009.
[28]Lau G K,Chin Y W,Goh J T W,et al.Dipteraninsect-inspired thoracic mechanism with nonlinear stiffness to save inertial power of flapping-wing flight[J].IEEE Transactions on Robotics,2014,30(5):1187-1197.
[29]Hines L,Campolo D,Sitti M.Liftoff of a motordriven,flap-ping-wing microaerial vehicle capable of resonance[J].IEEE Transactions on Robotics,2014,30(1):220-232.
[30]Ma K Y,Chirarattananon P,Fuller S B,et al.Controlled flight of a biologically inspired,insect-scale robot[J].Science,2013,340(6132):603-607.
[31]Chen Y,Wang H,Helbling E F,et al.A biologically inspired,flap-ping-wing,hybrid aerial-aquatic microrobot[J].Science Robotics,2017,2(11):eaao5619.
[32]Jafferis N T,Helbling E F,Karpelson M,et al.Untethered flight of an insect-sized flapping-wing microscale aerial vehicle[J].Nature,2019,570(7762):491-495.
[33]Yang X,Chen Y,Chang L,et al.Bee+:a 95 mg fourwinged insect-scale flying robot driven by twinned unimorph actuators[J].IEEE Robotics and Automation Letters,2019,4(4):4270-4277.
[34]Zou Y,Zhang W,Ke X,et al.The design and microfabrication of a sub 100 mg insect-scale flappingwing robot[J].Micro&Nano Letters,2017,12(5):297-300.
[35]Zou Y,Zhang W,Zhang Z.Liftoff of an electromagnetically driven insect-inspired flappingwing robot[J].IEEE Transactions on Robotics,2016,32(5):1285-1289.
[36]Chen Y,Zhao H,Mao J,et al.Controlled flight of a microrobot powered by soft artificial muscles[J].Nature,2019,575(7782):324-329.
[37]Chin D D,Lentink D.Flapping wing aerodynamics:from insects to vertebrates[J].Journal of Experimental Biology,2016,219(7):920-932.
[38]Sane S P.The aerodynamics of insect flight[J].Journal of Experimental Biology,2003,206(23):4191-4208.
[39]Lehmann F O.The mechanisms of lift enhancement in insect flight[J].Naturwissenschaften,2004,91(3):101-122.
[40]David L,Michael H D.Rotational accelerations stabilize leading edge vortices on revolving fly wings[J].Journal of Experimental Biology,2009,212(19):2705-2719.
[41]Ellington C P,Van Den Berg C,Willmott A P,et al.Leading-edge vortices in insect flight[J].Nature,1996,384(6610):626-630.
[42]Maxworthy T.Experiments on the Weis-Fogh mechanism of lift generation by insects in hovering flight.part 1.dynamics of the‘fling’[J].Journal of Fluid Mechanics,1979,93(1):47-63.
[43]Van Den Berg C,Ellington C P.The three-dimensional leading-edge vortex of a‘hovering’model hawkmoth[J].Philosophical Transactions of the Royal Society of London.Series B:Biological Sciences,1997,352(1351):329-340.
[44]Birch J M,Dickinson M H.Spanwise flow and the attachment of the leading-edge vortex on insect wings[J].Nature,2001,412(6848):729-733.
[45]Sane S P,Dickinson M H.The control of flight force by a flapping wing:lift and drag production[J].Journal of Experimental Biology,2001,204(15):2607-2626.
[46]Ellington C P.The aerodynamics of hovering insect flight.II.morphological parameters[J].Philosophical Transactions of the Royal Society of London.B,Biological Sciences,1984,305(1122):17-40.
[47]Ellington C P.The aerodynamics of hovering insect flight.IV.aerodynamic mechanisms[J].Philosophical Transactions of the Royal Society of London.B,Biological Sciences,1984,305(1122):79-113.
[48]Weis-Fogh T.Quick estimates of flight fitness in hovering animals,including novel mechanisms for lift production[J].Journal of Experimental Biology,1973,59(1):169-230.
[49]Miller L A,Peskin C S.Flexible clap and fling in tiny insect flight[J].Journal of Experimental Biology,2009,212(19):3076-3090.
[50]Srygley R B,Thomas A L R.Unconventional liftgenerating mechanisms in free-flying butterflies[J].Nature,2002,420(6916):660-664
[51]Cooter R J,Baker P S.Weis-Fogh clap and fling mechanism in Locusta[J].Nature,1977,269(5623):53-54.
[52]Usherwood J R,Ellington C P.The aerodynamics of revolving wings I.model hawkmoth wings[J].Journal of Experimental biology,2002,205(11):1547-1564.
[53]Bergou A J,Xu S,Wang Z J.Passive wing pitch reversal in insect flight[J].Journal of Fluid Mechanics,2007,591:321-337.
[54]Walker S M,Thomas A L R,Taylor G K.Deformable wing kinematics in free-flying hoverflies[J].Journal of the Royal Society Interface,2010,7(42):131-142.
[55]Taha H E,Hajj M R,Nayfeh A H.Wing kinematics optimization for hovering micro air vehicles using calculus of variation[J].Journal of Aircraft,2013,50(2):610-614.
[56]Phan H V,Park H C.Wing inertia as a cause of aerodynamically uneconomical flight with high angles of attack in hovering insects[J].Journal of Experimental Biology,2018,221(19):jeb187369.
[57]Usherwood J R.Inertia may limit efficiency of slow flapping flight,but may-flies show a strategy for reducing the power requirements of loiter[J].Bioispration&Biomimetics,2009,4(1):015003.
[58]Liang B,Sun M.Nonlinear flight dynamics and stability of hovering model insects[J].Journal of the Royal Society Interface,2013,10(85):20130269.
[59]Duhamel P E J,Pérez-Arancibia N O,Barrows G L,et al.Altitude feedback control of a flapping-wing microrobot using an onboard biologically inspired optical flow sensor[C].2012 IEEE International Conference on Robotics and Automation(ICRA),Saint Paul,MN,USA,May 14-18,2012.
[60]Helbling E F,Fuller S B,Wood R J.Altitude estimation and control of an insect-scale robot with an onboard proximity sensor[M].Cham:Springer,2018:57-69.
[61]Fuller S B,Karpelson M,Censi A,et al.Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli[J].Journal of the Royal Society Interface,2014,11(97):369-386.
[62]Shyy W,Kang C.K,Chirarattananon P,et al.Aerodynamics,sensing and control of insect-scale flapping-wing flight[J].Proceedings of the Royal Dociety A:Mathematical,Physical and Engineering Sciences,2016,472(2186):20150712.
[63]Blondeau J.Aerodynamic capabilities of flies,as revealed by a new technique[J].Journal of Experimental Biology,1981,92(1):155-163.
[64]Lehmann F O,Dickinson M H.The control of wing kinematics and flight forces in fruit flies(Drosophila spp.)[J].Journal of Experimental Biology,1998,201(3):385-401.
[65]Hinterwirth A J,Daniel T L.Antennae in the hawkmoth Manduca sexta (Lepidoptera,Sphingidae) mediate abdominal flexion in response to mechanical stimuli[J].Journal of Comparative Physiology A,2010,196(12):947-956.
[66]Dickinson M H,Muijres F T.The aerodynamics and control of free flight manoeuvres in Drosophila[J].Philosophical Transactions of the Royal Society B:Biological Sciences,2016,371(1704):20150388.
[67]Nan Y,Karásek M,Lalami M E,et al.Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle[J].Bioinspiration&Biomimetics,2017,12(2):026010.
[68]Pérez-Arancibia N O,Duhamel P E J,Ma K Y,et al.Model-free control of a hovering flapping-wing microrobot[J].Journal of Intelligent&Robotic Systems,2015,77(1):95-111.
[69]Fuller S B,Helbling E F,Chirarattananon P,et al.Using a MEMS gyroscope to stabilize the attitude of a fly-sized hovering robot[C].IMAV 2014:International Micro Air Vehicle Conference and Competition,Delft,The Netherlands,August 12-15,2014.
[70]Helbling E F,Fuller S B,Wood R J.Pitch and yaw control of a robotic insect using an onboard magnetometer[C].2014 IEEE International Conference on Robotics and Automation(ICRA),Hong Kong,China,May 31-June 07,2014.
[71]Lynch J,Gau J,Sponberg S,et al.Dimensional analysis of spring-wing systems reveals performance metrics for resonant flapping-wing flight[J].Journal of the Royal Society Interface,2021,18 (175):20200888.
[72]Mou J,Zhang W,Zheng K,et al.More detailed disturbance measurement and active disturbance rejection altitude control for a flapping wing robot under internal and external disturbances[J].Journal of Bionic Engineering,2022,19(6):1722-1735.
[73]Alexander R M N,Bennet-Clark H C.Storage of elastic strain energy in muscle and other tissues[J].Nature,1977,265(5590):114-117.
[74]Weis-Fogh T.Energetics of hovering flight in hummingbirds and in Drosophila[J].Journal of Experimental Biology,1972,56(1):79-104.
[75]Lau G K,Chin Y W,Goh J T W,et al.Dipteraninsect-inspired thoracic mechanism with nonlinear stiffness to save inertial power of flapping-wing flight[J].IEEE Transactions on Robotics,2014,30(5):1187-1197.
[76]Baek S S,Ma K Y,Fearing R S.Efficient resonant drive of flapping-wing robots[C].2009 IEEE/RSJInternational Conference on Intelligent Robots and Systems,St.Louis,USA,October 10-15,2009.
[77]Madangopal R,Khan Z A,Agrawal S K.Biologically inspired design of small flapping wing air vehicles using four-bar mechanisms and quasi-steady aerodynamics[J].Journal of Mechanical Design,2005,127(4):809-816.
[78]Tantanawat T,Kota S.Design of compliant mechanisms for minimizing input power in dynamic applications[J].Journal of Mechanical Design,2007,129(10):1064-1075.
[79]Yang L J,Esakki B,Chandrasekhar U,et al.Practical flapping mechanisms for 20 cm-span micro air vehicles[J].International Journal of Micro Air Vehicles,2015,7(2):181-202.
[80]Jeon J H,Cho H,Kim Y,et al.Design and analysis of the link mechanism for the flapping wing MAV using flexible multi-body dynamic analysis[J].International Journal of Micro Air Vehicles,2017,9(4):253-269.
[81]Khan Z,Steelman K,Agrawal S.Development of insect thorax based flapping mechanism[C].2009 IEEEInternational Conference on Robotics and Automation,Kobe,Japan,May 12-17,2009.
[82]Campolo D,Azhar M,Lau G K,et al.Can DC motors directly drive flapping wings at high frequency and large wing strokes?[J].IEEE/ASME Transactions on Mechatronics,2012,19(1):109-120.
[83]Park M,Ventikos Y,Abolfathi A.Should friction losses be included in an electromechanical model of a bioinspired flapping-wing micro aerial vehicle to estimate the flight energetic requirements?[J].Bioinspiration&Biomimetics,2022,17(3):036011.
[84]Hassanalian M,Throneberry G,Abdelkefi A.Wing shape and dynamic twist design of bio-inspired nano air vehicles for forward flight purposes[J].Aerospace Science and Technology,2017,68:518-529.
基本信息:
DOI：10.19942/j.issn.2096-5915.2023.03.22
中图分类号:V276
引用信息:
[1]张逸晨,赵佳欣,韩昊奇,等.可悬停扑翼飞行器研究现状与关键技术[J],2023,6(03):1-18.DOI:10.19942/j.issn.2096-5915.2023.03.22.
基金信息:
国家自然基金项目（61871266）;; 上海专业技术服务平台项目（19DZ2291103）