三维前飞扑翼运动学参数优化

徐启炎; 朱建阳; 朱名康; 谢鹏

doi:10.13224/j.cnki.jasp.20220083

三维前飞扑翼运动学参数优化

doi: 10.13224/j.cnki.jasp.20220083

徐启炎¹,
朱建阳^{1, 2,*, ,},
朱名康²,
谢鹏³

1.
武汉科技大学冶金装备及其控制教育部重点实验室，武汉 430081
2.
武汉科技大学机器人与智能系统研究院，武汉 430081
3.
深圳技术大学中德智能制造学院，广东深圳 518118

基金项目: 国家自然科学基金资助项目（51975429，51505347）

详细信息

作者简介:
徐启炎（1997-），男，硕士，主要从事扑翼飞行器样机研制研究

通讯作者:
朱建阳（1981-），男，副教授，博士，主要从事扑翼飞行器机理研究。E-mail：zhujianyang02@163.com

中图分类号: V211.3
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出版历程
- 收稿日期: 2022-02-24
- 网络出版日期: 2024-04-18

Optimization of kinematic parameters of 3D forward flapping wing

XU Qiyan¹,
ZHU Jianyang^{1, 2,*
, ,},
ZHU Mingkang²,
XIE Peng³

1.
Key Laboratory of Metallurgical Equipment and Control Ministry of Education，Wuhan University of Science and Technology，Wuhan 430081，China
2.
Institute of Robotics and Intelligent Systems，Wuhan University of Science and Technology，Wuhan 430081，China
3.
Sino-German College of Intelligent Manufacturing，Shenzhen Technology University，Shenzhen Guangdong 518118，China

摘要

摘要:
。采用田口试验和数值求解三维N-S方程相结合的方法，以提升扑翼的升举效率为目标，对缩减频率、扑动振幅和俯仰振幅这三个运动学参数进行优化。研究结果表明：与最差参数组合扑翼相比，最佳参数组合扑翼的时均升力系数提升了52.1%，升举效率提高了85.52%；运动学参数对扑翼气动性能影响的强弱依次为缩减频率，扑动振幅和俯仰振幅。进一步通过对扑翼表面的流场分析发现，采用最佳参数可以增强贴附在扑翼表面上涡流的强度，以及促进扑翼尾迹反卡门涡街的形成，从而使扑翼具有更好的气动特性。
- 扑翼 /
- 运动学参数 /
- 田口方法 /
- Navier-Stokes（N-S）方程 /
- 升举效率
Abstract:
In order to improve the lifting efficiency of the flapping wing, the analyzing of the three kinematic parameters of reduced frequency, flapping amplitude and pitching amplitude influence on the aerodynamic performance of flapping wing were carried out by the combination of the Taguchi test and numerical solution of three-dimensional N-S equation. The results show that compared with the worst parameters combination, the average lift coefficient and lifting efficiency of the best parameters combination flapping wing are increased by 52.1% and 85.52% respectively. The range of the influence on the aerodynamic performance of flapping wing is reduced frequency, flutter amplitude and pitch amplitude in turn. Further, through the analysis of the flow field on the flapping wing surface, it is found that the best parameters combination can enhance the intensity of the vortex attached to the flapping wing surface and promote the formation of von Karman vortex street in the wake of the flapping wing, so as to lead the flapping wing to have better aerodynamic characteristic.
- flapping wing /
- kinematic parameter /
- Taguchi methods /
- Navier-Stokes (N-S) equation /
- lifting efficiency

HTML

图 1 扑翼运动简图

Figure 1. Flapping wing movement diagram

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图 2 计算域和边界条件示意图

Figure 2. Schematic of computational domain and boundary conditions

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图 3 不同网格密度和时间步长下扑翼升力和阻力系数

Figure 3. Evolution of lift and drag coefficient of flapping wings for different grid densities and time steps

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图 4 不同网格密度和时间步长下第四个扑翼循环的升力和推力系数的均值对比

Figure 4. Mean value comparison of lift and thrust coefficients of the fourth flapping wing cycle under different mesh densities and time steps

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图 5 当前数值方法得到的扑翼升力和推力与文献数据的比较

Figure 5. Comparison of the lift and thrust of the flapping wing obtained by the literature data and present numerical method

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图 6 各参数水平的平均信噪比

Figure 6. Average signal-to-noise ratio of each parameter level

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图 7 各参数对升举效率的影响程度

Figure 7. Influence range of each parameter on lifting efficiency

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图 8 两组试验的升力系数

Figure 8. Lift coefficient of two groups of trials

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图 9 两组试验的推力系数

Figure 9. Thrust coefficient of two groups of trials

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图 10 两组试验的能耗系数

Figure 10. Energy consumption coefficient of two groups of trials

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图 11 试验1中扑动和俯仰运动产生的力矩

Figure 11. Moment produced by flapping and pitching motion in trial 1

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图 12 试验1和试验18在t=0.75T, z=0.97c, 1.27c and 1.78c处的涡量、压力等值线图

Figure 12. Contour plots of vorticity and pressure for trial 1 and trial 18 at t=0.75T, z=0.97c, 1.27c and 1.78c

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图 13 试验1和试验18在一个扑翼循环中的三维涡流结构

Figure 13. Three-dimensional vortex structures in the flow for the trial 1and trial 18 in one flapping cycle

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表 1 扑翼几何参数

Table 1. Geometric parameters of flapping wing

参数	数值
b/m	0.49
c_r/m	0.24
c_t/m	0.16
c/m	0.238
b_r/m	0.06
S/m²	0.10846

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表 2 网格密度和迭代时间步长细节

Table 2. Details of grid density and time step sizes

网格密度	扑翼表面第一层网格高度	内球域网格数	总网格数	迭代时间步长
Grid1	b/20	1.2×10⁵	2.5×10⁵	0.001T
Grid1	b/20	1.2×10⁵	2.5×10⁵	0.0005T
Grid2	b/29	2.4×10⁵	5.1×10⁵	0.001T
Grid2	b/29	2.4×10⁵	5.1×10⁵	0.0005T
Grid3	b/41	4.2×10⁵	7.3×10⁵	0.001T
Grid3	b/41	4.2×10⁵	7.3×10⁵	0.0005T

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表 3 试验中的参数和水平

Table 3. Parameters and levels in the test

参数	水平
参数	1	2	3	4	5	6
$ k $	0.60	0.75	0.90	1.05	1.20	1.35
$ {\theta _{\text{m}}} $/（°）	50	55	60
$ {\beta _{\text{m}}} $/（°）	15	17.5	20

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表 4 田口试验正交表

Table 4. Orthogonal table of Taguchi test

试验序号	$ k $	$ {\theta _{\text{m}}} $/（°）	$ {\beta _{\text{m}}} $/（°）
1	0.60	50	15
2	0.60	55	17.5
3	0.60	60	20
4	0.75	50	15
5	0.75	55	17.5
6	0.75	60	20
7	0.90	50	17.5
8	0.90	55	20
9	0.90	60	15
10	1.05	50	20
11	1.05	55	15
12	1.05	60	17.5
13	1.20	50	17.5
14	1.20	55	20
15	1.20	60	15
16	1.35	50	20
17	1.35	55	15
18	1.35	60	17.5

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表 5 试验结果

Table 5. Test results

试验序号	$ \overline {{C_{\text{l}}}} $	$ - \overline {{C_{\text{d}}}} $	$ \overline {{C_{\text{p}}}} $	$ {\eta _{\text{l}}} （ {\text{%}} ） $	$ S/N{\text{（dB）}} $
1	0.4493	0.1644	3.8500	11.67	21.34
2	0.4485	0.2197	3.4345	13.06	22.32
3	0.4438	0.2805	3.0949	14.34	23.13
4	0.5117	0.2675	3.5967	14.23	23.06
5	0.5064	0.3610	3.2607	15.53	23.82
6	0.4919	0.4677	3.0049	16.37	24.28
7	0.5358	0.4320	3.1897	16.80	24.51
8	0.5332	0.5717	2.9604	18.01	25.11
9	0.5816	0.5791	3.2857	17.70	24.96
10	0.5677	0.6534	2.9633	19.16	25.65
11	0.6200	0.6703	3.2811	18.90	25.53
12	0.5990	0.9012	3.0964	19.35	25.73
13	0.6186	0.8206	3.1429	19.68	25.88
14	0.6027	1.0929	2.9618	20.35	26.17
15	0.6620	1.0895	3.2773	20.20	26.11
16	0.6084	1.1655	3.0020	20.27	26.14
17	0.6974	1.1833	3.3285	20.95	26.42
18	0.6834	1.5846	3.1570	21.65	26.71

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