نوع مقاله : علمی- ترویجی
نویسندگان
1 دانشجوی کارشناسی ارشد، گروه کنترل ، دانشکده مهندسی برق، دانشگاه علم و صنعت ایران، تهران، ایران .
2 استادیار، گروه کنترل، دانشکده مهندسی برق، دانشگاه علم وصنعت ایران، تهران، ایران.
چکیده
هواپیماهای بدون سرنشین بال‌زن با توجه به توانایی پرواز بدون صدا در سرعت‌های کم و قابلیت مانور زیاد در معرض توجه قرار گرفته‌اند. در این مقاله، با بررسی تاریخچة این موضوع و اهمیـت آن در زمینة علوم مهندسی، چگونگی بدست آمدن نیروهای مورد نیاز برآی پرواز در بال زدن شرح داده میشود. پس از آن، با بررسی جوانب مختلف و ارائة معادلات، مدل مناسبی به منظور دستیابی به اهداف کنترلی بدست می‌آید. با توجه به پیچیدگی سینماتیکی و دینامیکی بال‌زنها، مدل به دست آمده غیرخطی و متناوب می باشد. پایداری بال‌زنها که اغلب با استفاده از روشهای متوسطگیری و نظریة فلوکه بررسی میشود، شرح داده شده است. چالش‌های کنترلی مطرح شده و مناسب‌ترین رویکردهای کنترلی برای کنترل پرواز بال‌زن انتخاب میشود. با توجه به محدودیت در وزن ربات بال‌زن، انتخاب قطعات الکترونیکی نیز به عنوان یک چالش بررسی خواهد شد.
کلیدواژه‌ها
[1] Aditya, K. and Malolan, V., “Investigation of Strouhal Number Effect on Flapping Wing Micro Air Vehicle", The 45th AIAA Aerospace Sciences Meeting and Exhibit, Reno, Nevada, USA, 2007.
[2] Rose, C.J., Mahmoudieh, P., and Fearing, R.S., “Modeling and Control of an Ornithopter for Diving", The Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on IEEE, Daejeon, South Korea, 2016.
[3] Benedict, M., Sudhakar, K., and Issac, K.K., “Aeroelastic Design and Manufacture of an Efficient Ornithopter Wing”, Department of Aerospace Engineering, Indian Institute of Technology, Bombay, Mumbai, 2004.
[4] Bisplinghoff, R.L., Ashley, H., and Halfman, R.L., Aeroelasticity, Courier Corporation, Mineola, New York, USA, 2013.
[5] Combes, S.A. and Daniel, T.L., “Into Thin Air: Contributions of Aerodynamic and Inertial-elastic Forces to Wing Bending in the Hawkmoth Manduca Sexta”, Journal of Experimental Biology, Vol. 206, No. 17, pp. 2999-3006, 2003.
[6] Torres, J.Z., Davila, J., and Lozano, R., “Attitude and Altitude Control on Board of an Ornithopter”, The International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, 2016.
[7] Shigeoka, K.S., “Velocity and Altitude Control of an Ornithopter Micro Aerial Vehicle”, Doctoral Dissertation, Department of Electrical and Computer Engineering, University of Utah, 2007.
[8] Becerra, V.M., “Flight Dynamics and System Identification for Modern Feedback Control: Avian-inspired Robots”, Aeronautical Journal, Vol. 119, No. 1212, pp. 247-248, 2015.
[9] Greenfield, D., “Opinion by Design-Seagulls and Systems Design Innovation-festo Has Developed the SmartBird, an Extremely Agile, Robotic Bird, and Through Its Development, the Company Gained Transferrable Knowledge about Hybrid Drive Technology”, Design News-Los Angeles, Vol. 66, No. 5, pp. 13-20, 2011.
[10[ Paranjape, A.A., Dorothy, M.R., Chung, S.J., and Lee, K.D., “A Flight Mechanics-centric Review of Bird-scale Flapping Flight”, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 3, pp. 267-281, 2012.
[11[ Folkertsma, G.A., Straatman, W., Nijenhuis, N., Venner, C.H., and Stramigioli, S., “Robird: A Robotic Bird of Prey”, IEEE Robotics and Automation Magazine, Vol. 24, No. 3, pp. 22-29, 2017.
[12[ Shyy, W., Lian, Y., Tang, J., Viieru, D., and Liu, H., “Aerodynamics of Low Reynolds Number Flyers", Cambridge University Press, New York, USA, 2007.
[13] Chandrasekaran, B.K., “Design of an Adaptive Flight Controller for a Bird-like Flapping Wing Aircraft”, Doctoral dissertation, Wichita State University, Wichita, Kansas, USA, 2017.
[14] Krashanitsa, R.Y., Silin, D., Shkarayev, S.V., and Abate, G., “Flight Dynamics of a Flapping-wing Air Vehicle”, International Journal of Micro Air Vehicles, Vol. 1, No. 1, pp. 35-49, 2009.
[15] Grauer, J., “Modeling and System Identification of an Ornithopter Flight Dynamics Model", Doctoral Dissertation, Department of Aerospace Science and Engineering, University of Maryland, 2012.
[16] Grauer, J., Ulrich, E., Hubbard, J.E., Pines, D., and Humbert, J.S., “Testing and System Identification of an Ornithopter in Longitudinal Flight”, Journal of Aircraft, Vol. 48, No. 2, pp. 660-667, 2011.
[17] Rose, C. and Fearing, R.S., “Flight Simulation of an Ornithopter”, Electrical Engineering and Computer Sciences, University of California, Berkeley, Technical Report No. UCB/EECS-2013-60, 2013.
[18] Rashid, T., “The Flight Dynamics of a Full-scale Ornithopter”, Doctoral dissertation, Department of Aerospace Science and Engineering, University of Toronto, 1995.
[19] Phlips, P.J., East, R.A., and Pratt, N.H., “An Unsteady Lifting Line Theory of Flapping Wings with Application to the Forward Flight of Birds”, Journal of Fluid Mechanics, Vol. 112, pp.97-125, 1981.
[20] DeLaurier, J.D., “An Aerodynamic Model for Flapping-wing Flight". The Aeronautical Journal, Vol. 97, No. 964, pp. 125-130, 1993.
[21] Chalia, S. and Bharti, M. K., “A Review on Aerodynamics of Flapping Wings", 2016.
[22] Malik, M.A. and Ahmad, F., “Effect of Different Design Parameters on Lift, Thrust, and Drag of an Ornithopter”, World Congress on Engineering, London, UK, 2010.
[23] Grauer, J.A. and Hubbard, J.E., “Inertial Measurements from Flight Data of a Flapping-wing Ornithopter”, Journal of Guidance, Control, and Dynamics, Vol. 32, No. 1, 326-331, 2009.
[24] Bolender, M.A., “Rigid Multi-Body Equations-of-Motion for Flapping Wing MAVs using Kane’s Equations”, AIAA Guidance, Navigation, and Control Conference, Chicago, Illinois, USA, 2009.
[25] Xiong, Y., and Sun, M., “Dynamic Flight Stability of a Bumblebee in Forward Flight”, Acta Mechanica Sinica, Vol. 24, No. 1, pp.25-36, 2008.
[26] Tan, L.T. and Pellegrino, S., “Stiffness Design of Spring Back Reflectors”, The 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, Denver, CO, USA, 2002.
[27] Dietl, J.M., and Garcia, E., “Stability in Ornithopter Longitudinal Flight Dynamics”, Journal of Guidance, Control, and Dynamics, Vol. 31, No. 4, pp. 1157-1163, 2008.
[28] Lust, K., “Improved Numerical Floquet Multipliers”, International Journal of Bifurcation and Chaos, Vol. 11, No. 09, pp. 2389-2410, 2001.
[29] Orlowski, C.T., and Girard, A.R., “Dynamics, Stability, and Control Analyses of Flapping Wing Micro-air Mehicles”, Progress in Aerospace Sciences, Vol. 51, pp. 18-30, 2012.
[30] Leonard, B., “Flapping Wing Flight Dynamic Modeling,” M.S. Thesis, Virginia Polytechnic Inst. and State Univ., Blacksburg, VA, 2011.
[31] Guckenheimer, J., and Holmes, P., Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields, Springer Science and Business Media, New York, USA, 2013.
[32] Peters, D.A. and He, C.J., “Finite State Induced Flow Models. II-Three-dimensional Rotor Disk”, Journal of Aircraft, Vol. 32, No. 2, pp. 323-333, 1995.
[33] Thomas, A.L., and Taylor, G.K., “Flight Dynamics I. Stability in Gliding Flight”, Journal of Theoretical Biology, Vol. 212, No. 3, pp. 399-424, 2001.
[34] Heathcote, S., Martin, D., and Gursul, I., “Flexible Flapping Airfoil Propulsion at Zero Freestream Velocity”, AIAA journal, Vol. 42, No. 11, pp. 2196-2204, 2004.
[35] Steck, J.E., Rokhsaz, K., Pesonen, U., and Duerksen, N., “An Advanced Flight Control System for General Aviation Application”, No. 2004-01-1807, SAE Technical Paper, 2004.
[36] He, W., Meng, T., He, X., and Sun, C., “Iterative Learning Control for a Flapping Wing Micro Aerial Vehicle Under Distributed Disturbances”, IEEE Transactions on Cybernetics, Vol. 49, No. 4, 2018.
[37] He, W., Yan, Z., and Sun, C., “Trajectory Tracking Control of a Flapping Wing Micro Aerial Vehicle via Neural Networks”, The International Conference on Advanced Robotics and Mechatronics (ICARM), Macau, China, 2016.
[38] Clawson, T.S., Ferrari, S., Fuller, S.B., and Wood, R.J., “Spiking Neural Network (SNN) Control of a Flapping Insect-scale Robot”, The 55th IEEE Conference on Decision and Control (CDC), Las Vegas, Nevada, USA, 2016.
[39] Aswini, N., Krishna Kumar, E., and Uma, S.V., “UAV and Obstacle Sensing Techniques–a Perspective", International Journal of Intelligent Unmanned Systems, Vol. 6, No. 1, pp. 32-46, 2018.
)