王安邦臺灣大學：應用力學研究所邱鴻年Chiu, Hung-NienHung-NienChiu2007-11-292018-06-292007-11-292018-06-292007http://ntur.lib.ntu.edu.tw//handle/246246/62394本文探討拍撲式飛行器翅膀強度對於飛行能力的影響，研究內容主要分成三大部分。第一部份為拍撲式飛行器氣動力學量測系統，此系統包含三維力與力矩量測天平、偵測尾流頻率變化的熱線測速儀以及觀察翅膀變形的高速攝影系統；第二部分探討拍撲式飛行器翼膜上骨架強度對於飛行推進力以及效率的影響，於自然界生物的尺寸和形狀中，參考昆蟲翅膀強度趨勢與蝙蝠翅膀形狀與構造，設計實驗參數。在實驗數據發現，翅膀前緣材料撓度(flexural stiffness, EI)越高，推進力越大；翼膜材料撓度則在適中的條件下有較高的推進效率。而整體拍撲行為在史徹赫數(Strouhal number)等於0.2時有較高的推進效率；第三部份為拍撲式飛行器的製作，成功自製出翼展70公分，展弦比5.8，重136公克之遙控拍撲式飛行器，目前飛行測試滯空時間可達10秒。本文同時發現拍撲式飛行速度增加時，推力增加能力與功率消耗降低，因此可知飛行器在剛開始起飛時所需推力與消耗功率最大，隨速度增加後遞減，最後到達一個穩定適合飛行的速度。This is a study about the effect of wing stiffness on the systematic design of flapping flight, and is separated into three parts as followings. In the first part, we constructed a test platform of flapping flight, including modification of a six-component force/moment balance, a thermal (hot-wire) anemometry and high speed camera. Then the force/ moment, integration of the flow change frequency behind the wing, and the instant deflection of the wing can be all measured. In the second part, we referred the flexural stiffness of an insect wing and the morphology of a bat wing, and found the trend relationship between the wing stiffness and the flapping characteristics. High thrust occurred with highly-stiffened leading edge and high propulsion efficiency came up with a moderate flexural stiffness of the flapping wings. Besides, high efficiency of flapping appears when Strouhal number is large than 0.2. Finally, we designed and built up a flapping-aerial vehicle with 70cm in span, 5.8 in aspect ratio with the weight of 136g. The model was tested and has a successful 10-second flight in air. In the wind tunnel test, we found that the thrust and power consumption decreases with increasing cruising speed. It means that the maximum power consumption is at the beginning of the flight, and in the cruise speed will approach constant with decreasing thrust.口試委員會審定書..........................................................i 誌謝......................................................................ii 中文摘要..................................................................iii Abstract..................................................................iv 目錄......................................................................v 圖目錄....................................................................ix 表目錄....................................................................xii 符號說明..................................................................xiii 第一章 緒論..............................................................01 1.1前言...................................................................01 1.2文獻回顧...............................................................02 1.2.1由生物學觀點看撲翼飛行...............................................02 1.2.2從工程學觀點看撲翼飛行...............................................02 1.2.3現今撲翼飛行器發展...................................................04 1.3研究動機...............................................................06 第二章 實驗儀器設備......................................................07 2.1風洞設備與移動走台.....................................................07 2.2皮氏管與微壓計.........................................................07 2.3熱線測速儀.............................................................07 2.4 風洞天平..............................................................07 2.5撲翼機構與翅膀.........................................................09 2.6資料擷取裝置與程式.....................................................09 2.7光電開關….............................................................10 2.8高速攝影機.............................................................10 第三章 研究方法...........................................................11 3.1理論基礎...............................................................11 3.1.1撲翼飛行原理.........................................................11 3.1.2無因次參數探討.......................................................11 3.1.3材料強度分析.........................................................13 3.2 仿生翅膀設計..........................................................14 3.2.1翅膀變形探討.........................................................14 3.2.2翅膀形狀選擇.........................................................15 3.2.3結構材料強度選擇.....................................................15 3.3仿生翅膀推力量測.......................................................17 3.3.1翼前端變形之影響.....................................................17 3.3.2翼膜變形之影響.......................................................17 3.3.3翼攻角變形之影響.....................................................18 3.4撲翼升阻力量測…….....................................................19 3.4.1不同攻角之升阻力.....................................................19 3.4.2不同翼展之升阻力.....................................................19 3.5撲翼飛行器開發.........................................................20 3.5.1尾翼設計與量測.......................................................20 3.5.2飛行器設計與製作.....................................................20 3.5.3懸繫飛行測試.........................................................20 3.5.4實際飛行測試.........................................................21 第四章 結果與討論.........................................................22 4.1翼前端變形之影響.......................................................22 4.1.1平均推進力與升力.....................................................22 4.1.2消耗功率.............................................................22 4.2翼膜變形之影響.........................................................24 4.2.1平均推進力與消耗功率.................................................24 4.2.2飛行效率.............................................................24 4.3翼攻角變形之影響.......................................................25 4.3.1平均推進力與消耗功率.................................................25 4.3.2飛行效率.............................................................25 4.4無因次分析.............................................................26 4.5升阻力量測結果.........................................................26 4.5.1平均推力.............................................................26 4.5.2平均升力.............................................................27 4.6最佳飛行條件...........................................................27 4.6.1升力與推力影響.......................................................27 4.6.2尾翼影響.............................................................28 4.7飛行測試...............................................................28 第五章 結論和未來展望.....................................................29 5.1結論...................................................................29 5.2未來展望...............................................................30 參考文獻..................................................................66 附錄......................................................................69 作者資料..................................................................713860028 bytesapplication/pdfen-US微飛行器撲翼機撓性翼史徹赫數仿生設計micro aerial vehicleornithopterflexible wingStrouhal numberbiomimeticthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/62394/1/ntu-96-R94543032-1.pdf