基于PD控制的仿昆虫扑翼样机研制

doi:10.7527/S1000-6893.2020.23678

Abstract

Abstract: The insect-like Flapping Wing Micro Air Vehicle (FW-MAV) can simulate the flight attitudes of the insect such as hovering, vertical take-off and side flying, thus adapting to complex and multi-barrier environments and having broad application prospects. In this study, an insect-like FW-MAV which could take off vertically with a weight of 23.8 g, a wingspan of 18 cm, a flapping amplitude of 180°, and a flapping frequency of 22 Hz is developed. The mechanism combining a crank rocker and a pulley is selected as the schematic of the flapping mechanism to solve the problems of high friction and complicated structure of existing flapping mechanisms. A couple of flexible wings with a twist angle are selected as the wings of the vehicle for higher aerodynamic efficiency. Considering that existing attitude adjustment mechanisms have increased the complexity of the whole vehicle structure, a new attitude adjustment structure is designed based on the wing twist attitude adjustment mechanism, and an aerodynamic measurement platform and an attitude adjustment platform are also built. The measurement results of the aerodynamic lift and attitude torque indicate that the wing could provide sufficient lift and the attitude adjustment mechanism is feasible, based on which the PD (Proportional Differential) control law is selected as the control mode of the vehicle. To solve the problems of time consumption for parameter adjustment and the difficultly observing the control effect in the direct flying of the vehicle, the initial control parameters are obtained based on the attitude adjustment platform, followed by several direct flying tests where the parameters are also adjusted for several times. Finally, stable vertical takeoff of the vehicle is realized.

Key words: insect-like flapping wing micro air vehicle, vehicle experiments, attitude adjustment, attitude control, PD control law

CLC Number:

V276

LIU Jing, WANG Chao, XIE Peng, ZHOU Chaoying. Development of insect-like flapping wing micro air vehicle based on PD control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(9): 223678-223678.

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Development of insect-like flapping wing micro air vehicle based on PD control

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