摘要
为了得到柔性驱动器的大变形,并提高软驱动飞行器的可控性,文中使用了柔性驱动器的优化结构。研究了该结构的受力变形原理与软驱动飞行器的浮力控制方法;推导了柔性球体驱动器实时变化的预拉伸率、电场力、压强以及体积之间的运算模型。设计了一种新型软驱动飞行器的无线控制系统,选择ATmega328作为核心处理器,结合XBee模块完成整个系统的无线接收和发送控制指令;无线控制系统电路使用小型电压放大器Q101。计算与实验结果表明:增大氦气球的初始体积、电极密度和预加载力等参数能够得到软驱动器的受力大变形,且飞行器的控制系统质量减轻;软驱动飞行器的微型控制系统的机载控制平台和地面控制中心之间能够采用无线通信的方式进行数据传输。文中所采用的方法能够实现柔性驱动飞行器平稳可控的低空飞行。
In order to get the large deformation of flexible actuators,and to improve the controllability of soft air vehicles,the optimization structure of flexible actuator is utilized.The mechanism of force-induced deformation and the buoyancy control method are studied.Computational models are developed for the parameters of pretension,field stress,pressure,charge and volume that are real-time variables.The wireless control system for a novel soft-actuated air vehicle is designed,ATmega 328 is selected as the core processor,and the wireless sending and receiving control commands of the system with XBee module is completed.The small voltage amplifier Q101 is used in the wireless control system circuit.Results obtained show that the larger deformation of a soft balloon actuator can be obtained by increasing the initial volume,electrode density and preloads,etc.The quality of the wireless control system can be greatly alleviated.The airborne control platform of the micro controller system and the ground control center could transmit in the mode of wireless communication.The proposed method could enable the flexible air vehicle to fly stable and controllable in low altitude.
作者
郭宝宁
张慧
Guo Baoning;Zhang Hui(Jiangsu Maritime Institute,211170,Nanjing,China;Southeast University,211189,Nanjing,China)
出处
《应用力学学报》
CAS
CSCD
北大核心
2018年第6期1254-1259,1418,1419,共8页
Chinese Journal of Applied Mechanics
基金
国家自然科学基金(51775108)
关键词
柔性驱动器
无线控制
浮力
受力大变形
flexible actuator
wireless control
buoyancy
force-induced deformation
