2A1-B09 環境との相互作用による蝶の羽ばたき飛翔の安定化(移動知)

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This paper studies the experimental measurement, numerical simulation, and control of the rhythmic and cyclic flapping-of-wings flight of a butterfly to clarify the principle of stabilization of the flight. A wind tunnel experiment with actual butterflies measures the aerodynamic force and the flapping-of-wings motion. A dynamical model is derived by Lagrange's method. For the aerodynamic forces, we apply a panel method considered the induced unsteady flow. Validity of the mathematical model is examined by comparing the measured data with the numerical results. Using the derived mathematical model, a periodic orbit of a flapping-of-wings flight is searched. Though derived flapping-of-wings flight is unstable, a nearly periodic orbit can be searched. Moreover, it is shown that free-vortices in wakes make the unstable level smaller but a control is necessary because the derived periodic orbit is still unstable. Finally, a controller is designed for the periodic orbit and its stability is examined by numerical simulation.
一般社団法人日本機械学会の論文
2007-05-11