面向仿生扑翼飞行器的测试分析研究综述

文全齐; 何修宇; 贺威; 赵远征; 孟亭亭

doi:10.16383/j.aas.c250574

面向仿生扑翼飞行器的测试分析研究综述

doi: 10.16383/j.aas.c250574 cstr: 32138.14.j.aas.c250574

文全齐^{1, 2,},
何修宇^{1, 2,},
贺威^{2, 3, 4,},
赵远征^{1, 2,},
孟亭亭^{1, 2,}

1.
北京科技大学人工智能学院北京 100083
2.
智能仿生无人系统教育部重点实验室北京 100083
3.
北京信息科技大学自动化学院、人工智能研究院北京 102206
4.
北京信息科技大学高动态飞行器自主导航与控制北京市重点实验室北京 102206

基金项目: 国家自然科学基金(62225304, 62373045, 62427813), 中央高校基本科研业务费专项资金(FRF-BD-25-051) 资助

详细信息

作者简介:
文全齐：北京科技大学人工智能学院博士研究生. 2025年获得北京科技大学学士学位. 主要研究方向为智能仿生扑翼飞行器. E-mail: u202142424@xs.ustb.edu.cn

何修宇：北京科技大学人工智能学院副教授. 2012年获得湖北工业大学学士学位, 2020年获得北京科技大学博士学位. 主要研究方向为分布式参数系统, 机器人. E-mail: xiuyuhe@ustb.edu.cn

贺威：北京信息科技大学教授. 2006年获得华南理工大学学士学位, 2011年获得新加坡国立大学博士学位. 主要研究方向为智能仿生扑翼飞行器, 智能无人系统. 本文通信作者. E-mail: weihe@ieee.org

赵远征：北京科技大学人工智能学院硕士研究生. 2024年获得北京科技大学学士学位. 主要研究方向为智能仿生扑翼机器人. E-mail: m202420955@xs.ustb.edu.cn

孟亭亭：北京科技大学人工智能学院副教授. 2014年获得河南理工大学学士学位, 2020年获得中国科学院大学博士学位. 主要研究方向为智能控制, 分布参数系统控制. E-mail: mengtingting@ustb.edu.cn

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出版历程
- 收稿日期: 2025-10-24
- 录用日期: 2026-03-31
- 网络出版日期: 2026-09-10

A Review of Testing Analysis Research for Bio-inspired Flapping-wing Aerial Vehicles

WEN Quan-Qi^{1, 2
,},
HE Xiu-Yu^{1, 2
,},
HE Wei^{2, 3, 4
,},
ZHAO Yuan-Zheng^{1, 2
,},
MENG Ting-Ting^{1, 2
,}

1.
School of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083
2.
Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, Beijing 100083
3.
School of Automation and Institute of Artificial Intelligence, Beijing Information Science and Technology Uni-versity, Beijing 102206
4.
Beijing Key Laboratory of Autonomous Navigation and Control for High-Dynamic Vehicles, Beijing Information Science and Technology University, Beijing 102206

Funds: Supported by National Natural Science Foundation of China (62225304, 62373045, 62427813) and Fundamental Research Funds for the Central Universities (FRF-BD-25-051)

More Information

Author Bio:
WEN Quan-Qi Ph.D. candidate at the School of Artificial Intelligence, University of Science and Technology Beijing. He received his bachelor degree from University of Science and Technology Beijing in 2025. His main research interest is intelligent bio-inspired flapping-wing aerial vehicles

HE Xiu-Yu Associate professor at the School of Artificial Intelligence, University of Science and Technology Beijing. He received his bachelor degree from Hubei University of Technology in 2012, and his Ph.D. degree from University of Science and Technology Beijing in 2020. His research interests include distributed parameter systems and robotics

HE Wei Professor at Beijing Information Science and Technology University. He received his bachelor degree from South China University of Technology in 2006, and his Ph.D. degree from National University of Singapore in 2011. His research interests include intelligent bio-inspired flapping-wing aerial vehicles and intelligent unmanned systems. Corresponding author of this paper

ZHAO Yuan-Zheng Master at the School of Artificial Intelligence, University of Science and Technology Beijing. He received his bachelor degree from University of Science and Technology Beijing in 2024. His main research interest is intelligent bio-inspired flapping-wing aerial vehicles

MENG Ting-Ting Associate professor at the School of Artificial Intelligence, University of Science and Technology Beijing. She received her bachelor degree from Henan University of Science and Technology in 2014, and her Ph.D. degree from University of Chinese Academy of Sciences in 2020. Her research interests include intelligent control and distributed parameter system control

摘要

摘要: 仿生扑翼飞行器因其高机动性、高仿生性和优异气动效率, 在军事和民用领域均展现出广阔应用前景. 测试分析是解析气动机制、验证系统设计和改进研制技术的关键手段, 然而其复杂的飞行机制和非定常气动特性对性能测试与分析优化提出严峻挑战. 为此, 系统梳理面向仿生扑翼飞行器的飞行机理和气动特性分析所采用实验测试技术的发展现状与最新成果, 重点分析风洞测试、液体环境测试和专用测试平台三类测试分析方法. 归纳说明三类测试方法的内容与特点, 并进一步阐述相关发展与贡献, 最后总结并探讨当下仿生扑翼飞行器测试分析的不足之处、面临的挑战及未来发展趋势, 为仿生扑翼飞行器的实验测试分析、测试优化改进提供系统性指导.
- 仿生扑翼飞行器 /
- 测试分析 /
- 风洞测试 /
- 液体环境测试 /
- 专用测试平台
Abstract: Bio-inspired flapping-wing aerial vehicles, owing to their high maneuverability, strong biomimetic characteristics, and superior aerodynamic efficiency, exhibit broad application prospects in both military and civilian domains. Testing analysis is a key method for analyzing aerodynamic mechanisms, validating system designs and improving development technologies. However, their complex flight mechanisms and unsteady aerodynamic characteristics pose significant challenges to performance testing, analysis and optimization. This paper systematically reviews the current state and recent achievements of experimental testing techniques employed in the study of flight mechanisms and aerodynamic characteristics for bio-inspired flapping-wing aerial vehicles, with particular emphasis on three types of testing analysis methods: Wind tunnel testing, liquid environment testing and specialized testing platforms. The contents and features of these three testing methods are summarized and illustrated, followed by a discussion of their respective developments and contributions. Finally, the shortcomings, challenges and future trends of bio-inspired flapping-wing aerial vehicles testing analysis are summarized and discussed. This study provides systematic guidance for experimental investigations and methodological improvements in the testing and optimization of bio-inspired flapping-wing aerial vehicles.
- bio-inspired flapping-wing aerial vehicle /
- testing analysis /
- wind tunnel testing /
- liquid environment testing /
- specialized testing platforms

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图 1 BIFWAVs实验测试示例

Fig. 1 BIFWAVs experimental testing examples

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图 2 BIFWAVs风洞测试系统示意图

Fig. 2 Schematic diagram of BIFWAVs wind tunnel testing system

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图 3 BIFWAVs风洞实验气动力测试

Fig. 3 Aerodynamic force measurement of BIFWAVs in wind tunnel experiment

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图 4 BIFWAVs风洞实验运动测试

Fig. 4 Kinematics test of BIFWAVs in wind tunnel experiment

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图 5 BIFWAVs液体环境测试^[69], 经许可转载自文献[69], ©The Company of Biologists Limited, 2006

Fig. 5 BIFWAVs liquid environment testing^[69], ©The Company of Biologists Limited, 2006

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图 6 北京科技大学仿鸟FWAVs测试平台

Fig. 6 Bird-inspired FWAVs testing platform of University of Science and Technology Beijing

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图 7 仿昆虫FWAVs力学测试平台示例

Fig. 7 Insect-inspired FWAVs aerodynamic testing platform examples

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图 8 仿昆虫FWAVs气动弹性测试平台

Fig. 8 Insect-inspired FWAVs aeroelastic testing platform

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图 9 新加坡国立大学仿昆虫FWAVs综合测试平台^[82], 经许可转载自文献[82], 遵循CC BY许可协议, 2017

Fig. 9 FWAVs comprehensive testing platform of National University of Singapore ^[82], reproduced with permission from reference [82], under the CC BY license, 2017

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表 1 BIFWAVs专用测试平台系统构成

Table 1 System configuration of BIFWAVs specialized testing platform

系统名称	核心能力	关键技术
气动力测量系统	精准获取气动载荷数据, 决定实验数据可靠性	高精度力/力矩传感器、应变传感器、高精度数字天平、定制化力学传感器等
运动学监测系统	捕捉扑翼频率、轨迹及姿态变化, 保障运动参数可控可重复	DIC系统、PIV系统、激光位移传感器、三维运动捕捉系统、光电传感器等
形变测量系统	分析柔性翼被动形变与气动弹性效应, 揭示流固耦合机理	DIC系统、PIV系统、双目视觉技术、光学标记点追踪技术等
辅助系统	实现能耗测量、信号处理与运动驱动控制等, 保障测试协同运行	功率传感器、分流电路、伺服/压电致动器、实时信号处理系统等

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表 2 专用测试平台分类与能力对比

Table 2 Classification and capability comparison of specialized testing platforms

平台大类	子分类	核心设计特点	主要测试能力
大中型仿鸟FWAVs测试平台	固定式无风环境测试平台	固定机体或翼面结构, 在无外部来流条件下开展测试, 系统结构相对简单, 易于搭建与维护, 测试成本较低	无风条件下的升力、推力、功率及翼面形变测量
大中型仿鸟FWAVs测试平台	多自由度动态测试平台	集成旋转臂、转台或悬挂支撑结构, 可模拟前飞和俯仰等多种飞行姿态, 支持多自由度协同运动控制	多姿态条件下气动力、功耗与翼面形变的同步测量, 并可实现来流等效模拟
微型仿昆虫FWAVs测试平台	力学性能为主测试平台	搭载高精度微型力/力矩传感器, 重点针对高频扑动下瞬态气动力响应进行测量, 系统动态响应速度快	升力、推力及力矩等核心气动参数的高精度分离与测量
	气动弹性为主测试平台	依托高分辨率视觉测量系统, 融合翼面形变重建算法, 重点关注柔性翼被动形变与流场耦合特性	翼面动态形变、气动弹性效应及运动轨迹的同步测量
	综合集成化测试平台	融合力学、运动学及流场测试手段, 实现多模态数据的同步采集与关联分析	气动力、翼面形变、能耗及流场特性的综合一体化测量

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表 3 BIFWAVs测试方法比较

Table 3 Comparison of BIFWAVs testing methods

测试方法	研究目标	适用范围	测试特征	发展方向
风洞测试	评估BIFWAVs在稳定风场条件下的气动性能	适用于大中型仿鸟FWAVs, 研究非定常气动力机理与尺度效应	可控风场速度、攻角、扑频等, 适合BIFWAVs参数化对比	提升复杂环境适应性与测试的广度、精度
液体环境测试	借助流体黏性放大非定常气动力效应, 揭示扑动机理	常用于微型仿昆虫FWAVs, 适合低雷诺数、低载荷条件下的气动特性研究	易于结合PIV等流场可视化技术研究流场效应	提升耦合机制解析与数据适用一致性
专用测试平台	实现BIFWAVs在静态/动态条件下的多自由度运动学与气动性能耦合测量	适用范围覆盖各类BIFWAVs, 适合各方面气动测试	自由度高, 支撑柔性翼形变机理、驱动能耗与控制策略等各方面综合研究	复杂飞况模拟与提升数据可靠性

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