通过肌肉协同收缩实现可变气动阻尼，类比可变刚度控制。
Variable Aerodynamic Damping Actuation via Co-Contraction: A Structural Analogy with Variable Stiffness Actuation
- 利用拮抗冗余推进的协同收缩，被动产生可调气动阻尼。
- 在低速飞行时阻尼效果与常规机身阻力相当，依赖推进效率对进距比的敏感性。
- 机制结构上类比可变刚度控制，适用于小型无人机的阻尼调节。
本文揭示了拮抗冗余推进中协同收缩所引发的被动气动阻尼效应。在已有研究主动力矩变化率能力的基础上，本文关注其被动侧：即在平衡状态时，气动力对相对风速的局部导数，定义为增量气动阻尼系数。在轻微气动硬化条件下，证明该系数沿恒力纤维单调递增，并基于一阶叶素理论模型揭示了速度-流入耦合的关键机制。由此提出的可变气动阻尼驱动（VADA）被建模为一种拮抗式气动执行模块与分配原则，在纤维运动和增量阻抗调制层面与可变刚度控制具有结构类比性。阻抗形式解释了共模与差模作用，基于UIUC螺旋桨数据库的评估表明，该阻尼具有小型无人机量级的实际意义，与低速下普通体阻尼相当，且强烈依赖于低进距比下的推力敏感性。
原文摘要 · Abstract (English)
This work identifies a passive aerodynamic damping effect induced by co-contraction in antagonistic redundant propulsion. Complementing prior work on aerodynamic promptness, which addressed active wrench-rate authority along constant-wrench fibers, we study the passive side: the local derivative of aerodynamic force with respect to air-relative velocity at a trim. This derivative defines an incremental aerodynamic damping coefficient. We prove that it increases monotonically along constant-force fibers under a mild aerodynamic hardening condition, and derive this property from a first-order Blade Element Theory model exposing the relevant speed-inflow coupling. The resulting mechanism, Variable Aerodynamic Damping Actuation (VADA), is formulated as an antagonistic aerodynamic actuation module and allocation principle, structurally analogous to variable-stiffness actuation at the level of fiber motions and incremental impedance modulation. An impedance-form interpretation clarifies common- and differential-mode roles, while a propeller-data-based assessment using the UIUC Propeller Database shows that the identified damping has practical small-UAV magnitude, is comparable to ordinary low-speed body-drag damping, and depends strongly on low-advance-ratio thrust sensitivity.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。