This paper presents a simple and useful modeling method to acquire a dynamics model of an aerial vehicle containing unknown parameters using mechanism modeling,and then to design different identifcation experiments to...This paper presents a simple and useful modeling method to acquire a dynamics model of an aerial vehicle containing unknown parameters using mechanism modeling,and then to design different identifcation experiments to identify the parameters based on the sources and features of its unknown parameters.Based on the mathematical model of the aerial vehicle acquired by modeling and identifcation,a design for the structural parameters of the attitude control system is carried out,and the results of the attitude control flaps are verifed by simulation experiments and flight tests of the aerial vehicle.Results of the mathematical simulation and flight tests show that the mathematical model acquired using parameter identifcation is comparatively accurate and of clear mechanics,and can be used as the reference and basis for the structural design.展开更多
Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comp...Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.展开更多
基金supported by the National Natural Science Foundation of China(No.11102019)
文摘This paper presents a simple and useful modeling method to acquire a dynamics model of an aerial vehicle containing unknown parameters using mechanism modeling,and then to design different identifcation experiments to identify the parameters based on the sources and features of its unknown parameters.Based on the mathematical model of the aerial vehicle acquired by modeling and identifcation,a design for the structural parameters of the attitude control system is carried out,and the results of the attitude control flaps are verifed by simulation experiments and flight tests of the aerial vehicle.Results of the mathematical simulation and flight tests show that the mathematical model acquired using parameter identifcation is comparatively accurate and of clear mechanics,and can be used as the reference and basis for the structural design.
基金supported by Ministry of Housing and Urban-Rural Development of China (Grant No. 2007-k8-6)National Natural Science of Foundation of China (Grant No. 60975070)
文摘Sliding wall-climbing robot （SWCR） is applied worldwide for its continuous motion, however, considerable air leakage causes two problems： great power consumption and big noise, and they constraint the robot＇s comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR＇s adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR＇s adsorption performance. The effect of locomotion mechanism selection and seal＇s pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system＇s thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller＇s key parameters impact its aerodynamic performance with the aid of computational fluid dynamics （CFD） simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller＇s rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system＇s static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR＇s adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload.
