Conceptual-design-and-application-of-insect-bioinspired-FWMAV

by Prof. Weiping Zhang, Dr. Xijun Ke

National Defence Industry Press, Sep. 2021

This academic monograph can be available by online purchase.

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Front Cover and publication page of this book

Bio-insect flapping wing micro aerial vehicle (FWMAV) is a kind of centimeter-scale air-flying robot which imitates the flapping-wing motion pattern of flying insects in order to realize flying ability and agile maneuverability similar to flapping-winged flying insects. Because of its future broad application prospects in the field of military and civilian, at present, the development of bio-insect FWMAV has become a hot research topic of some important scientific research institutions and units at home and abroad.

The introduction of the main content:

The book is divided into nine chapters. Firstly, the research background and engineering significance, the research situation of the dipteran insect wingbeat model and the domestic and international research status of the insect-inspired flapping wing micro air vehicle (FWMAV) are elaborated, and the important problems faced by engineering design are extracted. Then the modeling theory and numerical method of computational fluid dynamics of insect flapping wing flight are summarized, and the research status of the aeroelastic noise of flapping wing flight is introduced. The sounding mechanism and noise reduction mechanism of different flapping wing species are discussed. An extended quasi-steady aerodynamic and inertial force and moment model was established to solve the problem of wingbeat dynamics and optimal aerodynamic parameters for flapping wing hovering flight with minimum energy consumption. Then, based on the quasi-steady aerodynamic model and the lumped parameterized linear model, the conceptual design framework of the flapping wing hovering flight is established. From the perspective of the development of engineering prototypes, the engineering and technical routes such as the design, manufacture and testing of the insect-inspired FWMAV are systematically expounded. Finally, the main contents of this book are summarized and the future research directions are prospected. The book is structured in a clear-cut manner, focusing on forward-looking and systematic, highlighting the combination of theoretical issues and engineering applications. It can be used as a senior undergraduate and graduate textbook for micro air vehicle design, aerospace and micro-electromechanical systems, etc., as well as a reference book for aviation engineers and researchers in related fields.

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Content

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Chapter I Introduction 1

1.1 Summary of research status 1

1.1.1 Research background and engineering significance 2

1.1.2 Survey of the research on the wingbeat model for Diptera insect 4

1.1.3 Recent research on external bioinspired flapping wing micro air vehicle 11

1.1.4 Survey of domestic bioinspired flapping wing micro air vehicle 25

1.2 Research objectives and content 28

1.2.1 Research objectives 28

1.2.2 Research content 28

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Chapter II Computational Fluid Dynamics of Insect Flapping Wing Flight 32

2.1 Brief introduction to Computational Fluid Dynamics study of flapping wing flight 32

2.2 Control equations and numerical methods adopted by Professor Liu Hao et al. 34

2.2.1 Control equation 34

2.2.2 Enhanced solution algorithm 36

2.2.3 Boundary conditions 36

2.3 Control equations and numerical methods adopted by Professor Wang Zane J et al.. 37

2.3.1 Control equations and numerical methods 37

2.3.2 Numerical method - immersion boundary method 39

2.4 Control equations and numerical methods adopted by Professor Sun Mao et al. 40

2.4.1 Control equations and numerical methods 41

2.4.2 Boundary conditions and aerodynamic evaluation 43

2.5 Control equations and numerical methods adopted by Professor Shyy Wei et al. 43

2.5.1 Fluid dynamics governing equation 43

2.5.2 Numerical solution method 44

2.6 Control equations and numerical methods adopted by Professor Lu Xiyun et al. 44

2.6.1 Control equation model and numerical method 44

2.6.2 Introduction to the lattice Boltzmann model 45

2.7 Comparison of numerical studies on insect flapping flight 46

2.8 Summary 47

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Chapter III Aeroelastic Noise of Flapping Wing Flight 48

3.1 Aerodynamic sound radiation around hovering flying flies 49

3.1.1 Experimental device, material and method 50

3.1.2 Analysis of results of aerodynamic sound test for male green-headed fly 53

3.1.3 Discussion on the function of aerodynamic sound 56

3.2 Simulation of aerodynamic sound generation mechanism around Bumblebee flying 57

3.2.1 Numerical method 57

3.2.2 Wing motion model 60

3.2.3 Numerical solution result of flapping wing aerodynamic noise 61

3.2.4 Summary of numerical simulation of flapping wing aerodynamic noise 64

3.3 Owl's silent noise reduction flight 64

3.4 Research on noise reduction of bioinspired Owl's comb leading edge 65

3.5 Aeroelastic sounding mechanism of flying and tail feathers for hummingbirds flight 67

3.5.1 Hummingbird flying feather sounding mechanism 67

3.5.2 Hummingbird tail feathering sounding mechanism 67

3.5.3 Hummingbird flying and tail feather sounding mechanism: aeroelastic flutter 69

3.5.4 Modal analysis of aeroelastic flutter of hummingbird flying and tail feathers 70

3.5.5 Evolution of feather aeroelastic flutter and non-sounding communication during flight of birds 70

3.6 The aeroelastic sounding mechanism of the feather wings for pigeons flight 72

3.7 Summary 73

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Chapter IV Extended Quasi-Steady Aerodynamic and Inertial Force and Torque Models 75

4.1 Survey of research on aerodynamic analysis model of flapping wing hovering flight 75

4.1.1 Common steady, quasi-steady and unsteady aerodynamic mechanisms and models 76

4.1.2 Comparative analysis of various aerodynamic models 87

4.2 Flapping wing morphological parameterization 89

4.2.1 Description of the wing shape 90

4.2.2 Non-dimensional parameterization of wing shape 92

4.3 Wing kinematics 92

4.4 Extended quasi-steady aerodynamic and inertial force and moment models 94

4.4.1 Aerodynamic force and torque derived from the translational circulation 95

4.4.2 Aerodynamic force and torque derived from the rotational circulation 97

4.4.3 Aerodynamic damping torque 99

4.4.4 Added-mass force and moment 101

4.4.5 Total normal aerodynamic forces acting on the wing plane 103

4.4.6 Total aerodynamic moment in the wing plane frame 104

4.4.7 Inertia force and moment 104

4.4.8 Numerical estimation of aerodynamic and inertia force/torque in the wing plane frame 105

4.5 Verification and validation of aerodynamic force and torque models 107

4.5.1 Horizontal and vertical forces in the right wing root frame 107

4.5.2 Torque in the right wing root frame 108

4.5.3 Verification and validation 108

4.6 Summary 110

The codes for this Chapter has been listed in Chapter4.

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Chapter V Dynamic analysis of the wingbeat problem for flapping wing hovering flight 112

5.1 Introduction 112

5.2 Brief of the extended quasi-steady aerodynamic and torque model 115

5.2.1 Aerodynamic force in the wing plane frame 115

5.2.2 Aerodynamic torque in the wing plane frame 115

5.2.3 Total torque in the right wing root frame 118

5.3 Modeling of wingbeat dynamics for flapping wing hovering flight 119

5.4 Numerical solution of two-DOF nonlinear wingbeat dynamics ODEs 122

5.4.1 Separate numerical solution of two coupled wingbeat dynamic equations 122

5.4.2 Coupled numerical solution of two coupled wingbeat dynamic equations 128

5.4.3 Adjustment of phase offset of pitch angle relative to flapping angle 130

5.5 Summary 132

The codes for this Chapter has been listed in Chapter5.

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Chapter VI Optimization of wing shape and motion parameters during the minimization of energy consumption for flapping wing hovering flight 134

6.1 Introduction 135

6.2 Flapping wing morphological parameterization 137

6.2.1 Description of the wing shape 137

6.2.2 Non-dimensional parameterization of wing shape 139

6.2.3 Description of non-dimensional parameterization for the dynamic proportionally scalable wings 140

6.3 Wing motion pattern 142

6.4 Extended quasi-steady aerodynamic and torque model 144

6.4.1 Translational aerodynamic coefficient for a dynamic mechanical proportional wing model 145

6.4.2 Aerodynamic forces and moments in wing plane frame 148

6.4.3 Horizontal and vertical forces in the right wing root frame 151

6.4.4 Aerodynamic moment in the right wing root frame 152

6.5 Power density model for optimized analysis 153

6.6 Wing geometry or kinematic parameter optimization 155

6.6.1 Formulation of optimization problems 155

6.6.2 Result and sensitivity analysis of wing geometry parameters optimization 158

6.6.3 Result and sensitivity analysis of wing kinematic parameters optimization 166

6.6.4 Result and sensitivity analysis of wing geometry and kinematic parameters combined optimization 171

6.6.5 Comparison of the estimated results for hovering fruit fly initial data and five types of optimization results 181

6.6.6 Suggestions on the application of optimization results for bioinspired FWMAV design 183

6.7 Summary 185

The codes for this Chapter has been listed in Chapter6.

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Chapter VII Conceptual design of the hovering bioinspired FWMAV 188

7.1 Research background of the relevant problem 188

7.2 Dynamics problem of bioinspired wingbeat dynamics system 189

7.2.1 Lumped parameter model of wingbeat motion – the realization and maintenance of dynamics wingbeat 189

7.2.2 Lumped parametric torsion flexible model for passive torsion of wings 195

7.3 Hovering energy 199

7.3.1 Dimension parameterization of piezoelectric actuators 200

7.3.2 Flight duration 202

7.3.3 Flight speed and range 206

7.4 Flapping wing dynamics and wing structure - inertial efficiency 207

7.5 Concept design software for the flapping wing hovering flight 212

7.6 Estimation of the maximum range of FWMAV hovering and low-speed forward flight with an extended quasi-steady aerodynamic model 213

7.7 Summary 215

The codes for this Chapter has been listed in Chapter7.

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Chapter VIII Design, manufacture and testing of the hovering bioinspired FWMAV 218

8.1 Drive mode choice for the bioinspired FWMAV 219

8.1.1 Features of several linear microactuators 221

8.1.2 Key performance comparison and scheme selection of microactuators 223

8.1.3 Driver power supply for the microactuators 225

8.2 Design principle, manufacturing process and testing for piezoelectric microactuator 226

8.2.1 Design principle of piezoelectric microactuators 226

8.2.2 Theoretical prediction model of the bimorph piezoelectric cantilever beam microactuators 232

8.2.3 Manufacturing process of piezoelectric microactuators 250

8.2.4 Performance indicators test of piezoelectric microactuators 255

8.3 Design analysis and manufacturing process of compliant transmission mechanism 257

8.3.1 Engineering realization of the Diptera bionic wingbeat mechanism 257

8.3.2 Kinematics analysis of compliant transmission 261

8.3.3 Manufacturing process of compliant transmission mechanism 266

8.4 Design and manufacturing process of insect bioinspired wings 268

8.4.1 Design of insect bioinspired wings 268

8.4.2 Manufacturing process of insect bioinspired wings 271

8.5 Assembly and wingbeat test of piezoelectric driven FWMAV prototype 273

8.5.1 Three-axis mobile platform and hovering climbing lift test platform 274

8.5.2 Real-time wingbeat and hovering climbing lift test for FWMAV 275

8.6 Summary 278

The codes for this Chapter has been listed in Chapter8.

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Chapter IX Summary and Outlook 281

9.1 Work summary 281

9.1.1 Exploration of the important problems in the flapping wing flight bionics engineering 281

9.1.2 Computational Fluid Dynamics of Insect Flapping Wing Flight 282

9.1.3 Aeroelastic noise of flapping wing flight 283

9.1.4 Modeling, and verification and validation of extended quasi-steady aerodynamic and inertial force and moment models 284

9.1.5 Modeling and numerical solution of wingbeat dynamics problem for flapping wing hovering flight 285

9.1.6 Combined optimization of wing geometry and kinematic parameters during the minimization of energy consumption for flapping wing hovering flight 286

9.1.7 Conceptual design of insect bioinspired hovering FWMAV 286

9.1.8 Development of insect bioinspired hovering FWMAV prototype 287

9.2 Major innovations 289

9.2.1 Extended quasi-steady aerodynamic and inertial force and moment models 289

9.2.2 Wingbeat dynamic analysis of the flapping wing hovering flight 290

9.2.3 Combined optimization of wing geometry and kinematic parameters during the minimization of energy consumption for flapping wing hovering flight 290

9.2.4 Conceptual design and prototype development of insect bioinspired hovering FWMAV 291

9.3 Research outlook 291

9.3.1 Research on flapping wing flight dynamics and control strategy 291

9.3.2 Designing insect-scaled FWMAV capable autonomous controllable flight 292

9.3.3 Development of micro-machining manufacturing technology for the insect bioinspired FWMAV prototype 292

9.3.4 Power electronic circuit 292

9.3.5 Development of lightweight avionics systems 292

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References 294

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Primary Symbol Index 313

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Here, most of the results for this book have been published in the following paper:

[1] Xijun Ke, Weiping Zhang, Jinhao Shi and Weidong Chen,"The numerical solution for flapping wing hovering wingbeat dynamics", Aerospace Science and Technology, 110(2021), 106474. (IF: 5.6)

[2] Xijun Ke, Weiping Zhang, Xuefei Cai, and Wenyuan Chen,"Wing geometry and kinematic parameter optimization of flapping wing hovering flight for minimum energy", Aerospace Science and Technology, 2017(64), 192-203. (IF: 5.6)

[3] Xijun Ke and Weiping Zhang,"Wing geometry and kinematic parameter optimization of flapping wing hovering flight", Applied Sciences, 2016, 6,390,1-35. (IF: 2.7)