Đang chuẩn bị liên kết để tải về tài liệu:
Aerial Vehicles Part 5

Tham khảo tài liệu 'aerial vehicles part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 192 Aerial Vehicles The drive shafts were powered by 16 mm 0.3 Nm torque DC brush motors Maxon Sachseln Switzerland equipped with gear heads to reduce speed and magnetic encoders to provide kinematic feedback to ensure motion fidelity. The motors were driven along kinematic patterns provided by a custom MATLAB Mathworks Natick MA Simulink program with WinCon software Quanser Consulting Ontario Canada . This software provided commands to the real-time control and data acquisition board Quanser Consulting Ontario Canada communicating with the hardware. We used ProportionalIntegral-Derivative PID controllers to run the motors with precision of 0.1 . Motion commands from the computer were amplified by analog amplifier units Advanced Motion Control which directly controlled the input current received by the motor. Wings were made from Mylar plastic film with a thickness of 0.25 cm which behaves as a rigid wing in our experiments. A carbon fiber rod was glued on the plastic film to serve as the leading edge. The end of the carbon fiber rod was affixed on to the force sensor. The wings have identical geometry as the dragonfly wings but are four times larger with a length of 19 cm for forewing and 18.5 cm for hindwing. The wing length is calculated as the distance from wing tip to the flapping axis. The wings along with part of the device were immersed into a tank 46cm X 41cm X 152cm filled with mineral oil Kinematic viscosity 3.4 cSt at 20 oC density 830 kg m3 . This overall set-up enabled us to run the wings along a pre-determined dragonfly kinematics while simultaneously measuring the forces on the forewing and the hindwing respectively Fig. 2 . 3. Flight pattern of a typical dragonfly High-speed photos of the dragonfly Aeshna juncea in hovering flight were taken by Norberg Norberg 1975 . The body is held almost horizontal and the wing stroke plane is tilted 60 relative to the horizontal line. For both forewing and hindwing the chord is almost horizontal during the .