Modeling and emergence of flapping flight of butterfly based on experimental measurements
Modeling and emergence of flapping flight of butterfly based on experimental measurements
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DOI：
10.1016/j.robot.2011.12.007
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发表时间：
2012-05-01
影响因子：
4.3
通讯作者：
Yokoyama, Naoto
中科院分区：
文献类型：
--
作者：
Senda, Kei;Obara, Takuya;Yokoyama, Naoto
本文的目的是阐明蝴蝶扑翼飞行的稳定性原理，扑翼飞行是一种有节奏的周期性运动。为此，将蝴蝶视为多刚体系统，采用拉格朗日法建立了蝴蝶的动力学模型。对于气动力，应用面元法。数值计算结果与实测数据的一致性表明了数学模型的有效性。然后，为了使蝴蝶模型飞行，搜索扑翼飞行的周期轨道。得到了几乎周期的轨道，但研究的扑翼飞行模型是不稳定的。本文研究了尾流诱导和柔性扭转机翼对飞行稳定性的影响。数值模拟结果表明，尾流诱导和柔性扭转都降低了飞行不稳定性。由于所得到的周期性扑翼飞行是不稳定的，设计了反馈控制系统，实现了稳定飞行。(C)2011 Elsevier B.V.保留所有权利。
The objective of this paper is to clarify the principle of stabilization in flapping-of-wing flight of a butterfly, which is a rhythmic and cyclic motion. For this purpose, a dynamics model of a butterfly is derived by Lagrange's method, where the butterfly is considered as a rigid multi-body system. For the aerodynamic forces, a panel method is applied. Validity of the mathematical models is shown by an agreement of the numerical result with the measured data. Then, periodic orbits of flapping-of-wing flights are searched in order to fly the butterfly models. Almost periodic orbits are obtained, but the model in the searched flapping-of-wing flight is unstable. This research, then, studies how the wake-induced flow and the flexibly torsional wing's effect on the flight stability. Numerical simulations demonstrate that both the wake-induced flow and the flexible torsion reduces the flight instability. Because the obtained periodic flapping-of-wing flight is unstable, a feedback control system is designed, and a stable flight is realized. (C) 2011 Elsevier B.V. All rights reserved.