弹簧-机翼系统中的能量与控制权衡
Energetic and Control Trade-offs in Spring-Wing Systems
AI总结：
本研究通过Weis-Fogh数分析弹簧-机翼系统在扰动下的响应，发现为最大化能量效率设计的共振系统会随该参数升高而牺牲敏捷性与稳定性，揭示了昆虫飞行中机械共振的能量与控制权衡。
摘要：
人们认为飞行昆虫通过在肌肉、肌腱和胸部中存储和释放弹性能量来实现节能的扑翼飞行。然而，由弹性元件与非线性、非定常气动力耦合组成的飞行系统，也对产生稳定且响应迅速的机翼运动带来了潜在挑战。在之前的工作中，我们研究了一个动态缩放的机器人物理系统的共振特性，该系统由一个刚性机翼和一个与弹簧串联的电机驱动，我们称之为弹簧-机翼系统（spring-wing system）\cite{Lynch2021-ri}。\n在本文中，我们旨在通过一个无量纲参数——Weis-Fogh数（韦斯-福格数），更好地理解扰动对共振系统的影响。我们以固定共振频率驱动弹簧-机翼系统，研究在不同Weis-Fogh数下，系统对内部控制扰动和外部气动扰动的响应。在第一组实验中，我们对输入激励幅值施加阶跃变化，研究机翼的运动响应。在第二组实验中，我们向扑动机翼施加外部流体流动，研究受扰动后的稳态机翼运动。\n我们结合Weis-Fogh数评估实验结果，该参数描述了惯性力与气动力的比值，以及弹性共振的潜在能量收益。结果表明，随着Weis-Fogh数的增加，为实现最大能量效率而设计的弹簧-机翼系统，在敏捷性和稳定性方面也会面临权衡。我们的研究结果证明，在共振弹簧-机翼系统中，能量效率与机翼机动性存在冲突，这表明机械共振在昆虫飞行中存在权衡效应。
英文摘要：
Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, flight systems consisting elastic elements coupled to nonlinear, unsteady aerodynamic forces also present possible challenges to generating steady and responsive wing motions. In previous work, we examined the resonance properties of a dynamically-scaled robophysical system consisting of a rigid wing actuated by a motor in series with a spring, which we call a spring-wing system \cite{Lynch2021-ri}. In this paper, we seek to better understand the effects of perturbations on resonant systems via a non-dimensional parameter, the Weis-Fogh number. We drive a spring-wing system at a fixed resonant frequency and study the response to an internal control perturbation and an external aerodynamic perturbation with varying Weis-Fogh number. In our first experiments, we provide a step change in the input forcing amplitude and study the wing motion response. In our second experiments we provide an external fluid flow directed at the flapping wing and study the perturbed steady-state wing motion. We evaluate results across the Weis-Fogh number, which describes the ratio of inertial and aerodynamic forces and the potential energetic benefits of elastic resonance. The results suggest that spring-wing systems designed for maximum energetic efficiency also experience trade-offs in agility and stability as the Weis-Fogh number increases. Our results demonstrate that energetic efficiency and wing maneuverability are in conflict in resonant spring-wing systems suggesting that mechanical resonance presents tradeoffs in insect flight.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
