Efficient Formation of Flapping-wing Aerial Vehicles Based on Wild Geese Queue Effect
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摘要: 本文借鉴“雁阵效应”, 研究了扑翼飞行机器人高效集群编队飞行问题. 通过对“V”字雁阵的分析得知, 当前排大雁(简称头雁)和后排大雁(简称从雁)保持某一合适的相对位置偏移时, 后排大雁可有效利用前排大雁挥翅产生的上洗涡流, 从而节省体能; 并且, 雁阵通过阵型的变换, 可以实现能量整体消耗的均衡性, 确保长航时飞行. 仿照该“雁阵效应”, 分析得出耗能最少的扑翼飞行机器人集群阵型排布方式, 并设计了阵型变换机制, 实现集群能量整体消耗的最优性和均衡性. 在此基础上, 参考雁群的交互方式, 设计了一种使用局部信息的控制方法, 保证最优阵型的稳定维持以及阵型间的灵活变换. 最后, 仿真结果验证了所提理论结果的有效性.Abstract: Based on the wild geese queue effect, this paper studies the efficient formation issue of flapping-wing aerial vehicles. By analyzing the formation manner with configuration “V”, it is shown that the rear wild geese can effectively save energy with the aid of the upwash airflow generated by the flutter of the front wild geese, when they maintain proper position offsets. Moreover, the uniform consumption of energy of the overall cluster can be maintained by reasonable configuration transformation such that the long-endurance formation is warranted. Borrowing from the intuition of the wild geese queue effect, we formulate a well-specified configuration of flapping-wing aerial vehicles with the least energy consumption, and design a mechanism of configuration transformation, which guarantees the optimization and uniformity of the overall energy consumption. In addition, referring to the interaction manner of the wild geese, we propose a control approach using local information such that the stable maintenance of the optimal configuration and the flexible transformation between distinct configurations are ensured. Finally, the simulation results verify the effectiveness of the proposed main results.
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图 1 锐角“V” 字阵型示意图(
$\alpha < 90^{\circ}$ )Fig. 1 “V” configuration with an acute angle (
$\alpha < 90^{\circ}$ )
图 2 钝角“V” 字阵型示意图(
$\alpha > 90^{\circ}$ )Fig. 2 “V” configuration with an obtuse angle (
$\alpha > 90^{\circ}$ )
图 3 雁间距及翼尖涡流示意图
Fig. 3 The schematic diagrams of spacing between wild goose and vortex formed by wingtip
图 7 两机纵向间距为2b时升力变化关于横向间距、垂向间距3维曲线图
Fig. 7 3D curve of lift variation with respect to lateral and vertical distances with longitudinal distance 2b
图 8 两机纵向间距为2b时阻力变化关于横向间距、垂向间距3维曲线图
Fig. 8 3D curve of drag variation with respect to lateral and vertical distances with longitudinal distance 2b
图 11 扑翼飞行机器人集群编队控制框图
Fig. 11 Formation control block diagram of flapping-wing aerial vehicles
图 12 扑翼飞行机器人集群编队飞行及阵型变换三维图
Fig. 12 3D formation snapshot of flapping-wing aerial vehicles
图 13 1号和2号扑翼飞行机器人相对位置分量
Fig. 13 Relative position components between flapping-wing aerial vehicles 1 and 2
图 14 1号和3号扑翼飞行机器人相对位置分量
Fig. 14 Relative position components between flapping-wing aerial vehicles 1 and 3
图 15 2号和4号扑翼飞行机器人相对位置分量
Fig. 15 Relative position components between flapping-wing aerial vehicles 2 and 4
图 16 3号和5号扑翼飞行机器人相对位置分量
Fig. 16 Relative position components between flapping-wing aerial vehicles 3 and 5
图 20 2号扑翼飞行机器人基于不同的编队阵型下的飞行功率消耗曲线
Fig. 20 Power of flapping-wing aerial vehicles 2 in different formations
图 21 扑翼飞行机器人集群编队飞行三维虚拟仿真实验图
Fig. 21 3D virtual simulation snapshot for formation of flapping-wing aerial vehicles
表 1 扑翼飞行机器人基本参数
Table 1 Parameters of flapping-wing aerial vehicles
名称 符号 参数 单位 机翼翼面面积 S 0.175 m2 翼展 b 0.8 m 展弦比 AR 3.66 — 飞机质量 m 0.1 kg 机翼升力曲线斜率 aW 8.2 rad−1 升力系数 CL 1.0 — 动压 q 16.125 kg/m2 
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表 2 扑翼飞行机器人仿真参数
Table 2 Simulation parameters of flapping-wing aerial vehicles
扑翼机编号 x (m) y (m) z (m) v (m/s) γ (°) 扑翼机 1 号 0 0 2 1 0 扑翼机 2 号 −0.8 −2 2 3 10 扑翼机 3 号 0.8 −4 2 3 −10 扑翼机 4 号 −1.6 −3 2 3 20 扑翼机 5 号 1.6 −4 2 2 −20
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