مدل‌سازی و شبیه‌سازی ۱۸ درجه ی آزادی دینامیک پرواز یک شبه‌حشره‌ی سنجاقک با در نظر گرفتن آیرودینامیک شبه‌پایا

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده‌ی مهندسی هوافضا، دانشگاه صنعتی شریف، تهران، ایران.

چکیده

در پژوهش حاضر، فرایند مدل‌سازی یک شبه‌حشره‌ی ‌سنجاقک ۱۸ درجه‌ی آزادی و با درنظرگرفتن آئرودینامیک شبه‌پایا ارائه شده است. ابتدا معادله‌های دینامیکی حرکت با استفاده از روش نیوتن– اویلر برای بدنه و چهار بال صلب و به‌صورت کامل استخراج شده‌اند. سپس پدیده‌های آئرودینامیکی ناپایا، شامل واماندگی به‌تأخیرافتاده، برا چرخشی و اینرسی جرم افزوده در قالب مدل شبه‌پایا به مدل دینامیکی اضافه شده‌اند. ساختار نهایی مدل، شامل نیروها و گشتاورهای متقابل بین اجزا، به‌منظور شبیه‌سازی غیرخطی دقیق و طراحی کنترل‌کننده توسعه یافته است. در پایان، با استفاده از مطالعه‌های تجربی، ضرایب و نیروهای آئرودینامیکی استخراج و مدل اعتبارسنجی شده و عملکرد پرنده در سناریوی پرواز شناور و دورزدن با دقت بررسی شده است. تلفیق دقیق دینامیک چندجسمی با مدل آئرودینامیک شبه‌پایا، وجه تمایز اصلی مطالعه‌ی پژوهشی حاضر محسوب می‌شود.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Modeling and Simulation of 18-Degree-of-Freedom Flight Dynamics of a Dragonfly-Inspired Micro Aerial Vehicle Considering Quasi-Steady Aerodynamics

نویسندگان [English]

  • Sobhan Toulabi
  • Afshin Banazadeh
Department of Aerospace Engineering, Sharif University of Technology
چکیده [English]

In this study, a comprehensive dynamic and aerodynamic model of a dragonfly-inspired flapping-wing system was developed to analyze the mechanisms of unsteady flight. Using a nonlinear 18-degree-of-freedom formulation based on the Newton–Euler equations, the coupled motion of the body and four independently actuated wings was simulated. Key unsteady aerodynamic effects—delayed stall, rotational lift, and added-mass inertia—were modeled and incorporated into the dynamics, while wake capture was omitted for simplicity. Simulation results showed strong agreement with experimental data, reproducing lift and drag characteristics across diverse flight conditions. The model also demonstrated stable hovering and agile turning maneuvers, confirming its capability to capture essential flight characteristics. Overall, the validated framework provides a reliable basis for future research on stability, control, and performance optimization of bio-inspired flapping-wing micro aerial vehicles.

کلیدواژه‌ها [English]

  • Dynamic modeling
  • flight simulation
  • quasi-steady aerodynamics
  • flapping wing dynamics
  • dragonfly-like insect

مراجع

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