飞行爬壁桥梁检测机器人的翼间气动干扰分析

为满足飞行爬壁桥梁检测机器人的功能特点,结构上,飞行爬壁机器人在飞行状态下时,四个旋翼不在同一平面而是处于一种纵列式排列。针对这种纵列式旋翼间存在的复杂气动干扰,先对单旋翼流场进行计算流体动力学(computational fluid dynamics, CFD)仿真并验证其可靠性。在此基础上分别对纵列式双旋翼在不同横间距、不同纵间距、不同转速的情况下进行气动仿真。然后根据仿真结果进行分析,得到横纵间距以及转速对前后旋翼以及整个系统的气动特性影响。仿真结果表明：横间距对纵列式旋翼间的气动干扰较大,而轴向间距相对较小,干扰程度与转速相关。可见本文结论可为飞行爬壁机器人的旋翼布局、转速、可行性等提供依据。

Inter-wing aerodynamic disturbance analysis of a flying wall-climbing bridge inspection robot

In order to meet the functional characteristics of the flying wall crawler, the structure of the flying wall crawler is such that the four rotors are not in the same plane but in a longitudinal arrangement when in flight. The CFD (computational fluid dynamics) simulation of the single-rotor flow field was carried out to verify its reliability. On the basis of these simulations, aerodynamic simulations are carried out for different horizontal spacing, different vertical spacing and different rotational speeds of the longitudinal double rotor. The results are then analysed to determine the effect of the horizontal and vertical spacing and the rotational speed on the aerodynamic characteristics of the front and rear rotor blades and the whole system. The simulation results show that the transverse pitch has a large aerodynamic interference between the longitudinal rotor blades, while the axial pitch is relatively small and the degree of interference is related to the rotational speed. It is clear that the conclusions of this paper can provide a basis for the rotor layout, rotational speed and feasibility of flying wall climbing robots.