中文摘要：

利用拉格朗日方程,建立了仿蝙蝠折叠扑翼飞行器的动力学方程,分析了翅翼气动阻力和转动惯量对曲柄转速的影响。首先利用流体力学原理,建立了折叠翼气动力矩的数学模型;其次,针对单自由度平面连杆机构等效动力学模型,将平面连杆机构看做是质点系和平面刚体系统所组成的混合系统,建立翅翼在拍动和折叠情况下机构等效力矩和等效转动惯量的数学表达式;最后基于拉个朗日方程建立系统的等效动力学模型,求解系统的真实运动规律,为准确计算扑翼飞行器的气动升力提供了理论基础;以UG软件进行动力学仿真验证,两者在仿真结果上趋于一致,为该方法的可行性提供了依据。

英文摘要：

The dynamics equation of bat- like flapping wing air vehicle is established by using the Lagrange equation,the influence of aerodynamic drag of wings and moment of inertia to the crank speed are analyzed. Firstly,according to the theory of fluid mechanics,the mathematical model of the aerodynamic moment of the foldable wing is established. Secondly,aiming at the equivalent dynamics model for the single degree of freedom planar linkage mechanism,it is regarded the planar linkage mechanism as a rigid body system consisted of particle system and plane hybrid system,the mathematical expressions of equivalent moment and equivalent moment of inertia are established under the condition of the wings flapping and folding. Finally,the equivalent dynamics model of the system is established based on the Lagrange equation,the real motion of system is worked out,the theoretical foundation is presented for the accurate calculation the aerodynamic lift of the flapping wing air vehicle. The dynamics simulation result is validated by the UG software,the simulation results are tend to be consistent,the basis for the feasibility of this method is provided.