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.
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
.
DOI: 10.7527/S1000-6893.2020.23678
[1] KEENNON M, KLINGEBIEL K, WON H. Development of the nano hummingbird:A tailless flapping wing micro air vehicle[C]//50th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. Reston:AIAA, 2012:588.
[2] MA K Y, CHIRARATTANANON P, FULLER S B, et al. Controlled flight of a biologically inspired, insect-scale robot[J]. Science, 2013, 340(6132):603-607.
[3] CHIRARATTANANON P, MA K Y, CHENG R, et al. Wind disturbance rejection for an insect-scale flapping-wing robot[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).Piscataway:IEEE Press, 2015:60-67.
[4] MA K Y, CHIRARATTANANON P, WOOD R J. Design and fabrication of an insect-scale flying robot for control autonomy[C]//2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway:IEEE Press, 2015:1558-1564.
[5] GRAULE M A, CHIRARATTANANON P, FULLER S B, et al. Perching and takeoff of a robotic insect on overhangs using switchable electrostatic adhesion[J]. Science, 2016, 352(6288):978-982.
[6] COLEMAN D, BENEDICT M, HRISHIKESHAVAN V, et al. Design, development and flight-testing of a robotic hummingbird[C]//AHS 71st Annual Forum, 2015:5-7.
[7] GROEN M, BRUGGEMAN B, REMES B, et al. Improving flight performance of the flapping wing MAV DelFly Ⅱ[C]//International Micro Air Vehicle Conference and Competition, 2010.
[8] GILLEBAART T, VAN ZUIJLEN A H, BIJL H. Aerodynamic analysis of the wing flexibility and the clap-and-peel motion of the hovering DelFly Ⅱ[C]//International Micro Air Vehicle Conference and Competitions 2011(IMAV 2011), 2011.
[9] DE CROON G, DE WAGTER C, REMES B D W, et al. Sky segmentation approach to obstacle avoidance[C]//2011 Aerospace Conference. Piscataway:IEEE Press, 2011:1-16.
[10] DE WAGTER C, TIJMONS S, REMES B D W, et al. Autonomous flight of a 20-gram flapping wing mav with a 4-gram onboard stereo vision system[C]//2014 IEEE International Conference on Robotics and Automation (ICRA). Piscataway:IEEE Press, 2014:4982-4987.
[11] KARÁSEK M, MUIJRES F T, DE WAGTER C, et al. A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns[J]. Science, 2018, 361(6407):1089-1094.
[12] PHAN H V, TRUONG Q T, PARK H C. Implementation of initial passive stability in insect-mimicking flapping-wing micro air vehicle[J]. International Journal of Intelligent Unmanned Systems, 2015, 3(1):18-38.
[13] GAISSERT N, MUGRAUER R, MUGRAUER G, et al. Inventing a micro aerial vehicle inspired by the mechanics of dragonfly flight[C]//Conference Towards Autonomous Robotic Systems. Berlin:Springer, 2013:90-100.
[14] FESTO CORPORATE. eMotionButterflies[EB/OL]. (2020-01-02)[2020-01-02]. https://www.festo.com/group/de/cms/10216.htm.
[15] MICHELSON R C. Novel approaches to miniature flight platforms[J]. Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2004, 218(6):363-373.
[16] SHYY W, AONO H, KANG C,et al. An introduction to flapping wing aerodynamics[M]. Cambridge:Cambridge University Press, 2013:90-175.
[17] DUDLEY R. The biomechanics of insect flight:Form, function, evolution[M]. Princeton:Princeton University Press, 2002:3-35.
[18] NAN Y, KARÁSEK M, LALAMI M E, et al. Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle[J]. Bioinspiration & Biomimetics, 2017, 12(2):026010.
[19] AU L T K, PHAN H V, PARK H C. Comparison of aerodynamic forces and moments calculated by three-dimensional unsteady blade element theory and computational fluid dynamics[J]. Journal of Bionic Engineering, 2017, 14(4):746-758.
[20] PHAN H V, KANG T, PARK H C. Design and stable flight of a 21 g insect-like tailless flapping wing micro air vehicle with angular rates feedback control[J]. Bioinspiration & Biomimetics, 2017, 12(3):036006.
[21] WOOTTON R J. Support and deformability in insect wings[J]. Journal of Zoology, 1981, 193(4):447-468.
[22] HEATHCOTE S, GURSUL I. Flexible flapping airfoil propulsion at low Reynolds numbers[J]. AIAA Journal, 2007, 45(5):1066-1079.
[23] KANG C, SHYY W. Passive wing rotation in flexible flapping wing aerodynamics[C]//30th AIAA Applied Aerodynamics Conference. Reston:AIAA,2012:2763.
[24] MOUNTCASTLE A M, COMBES S A. Wing flexibility enhances load-lifting capacity in bumblebees[J]. Proceedings of the Royal Society B:Biological Sciences, 2013, 280(1759):20130531.
[25] WALKER S M, THOMAS A L R, TAYLOR G K. Deformable wing kinematics in free-flying hoverflies[J]. Journal of the Royal Society Interface, 2009, 7(42):131-142.
[26] NAN Y, KARÁSEK M, LALAMI M E, et al. Experimental optimization of wing shape for a hummingbird-like flapping wing micro air vehicle[J]. Bioinspiration & Biomimetics, 2017, 12(2):026010.
[27] PHAN H V, TRUONG Q T, AU T K L, et al. Optimal flapping wing for maximum vertical aerodynamic force in hover:Twisted or flat?[J]. Bioinspiration & Biomimetics, 2016, 11(4):046007.
[28] PHAN H V, TRUONG Q T, PARK H C. An experimental comparative study of the efficiency of twisted and flat flapping wings during hovering flight[J]. Bioinspiration & Biomimetics, 2017, 12(3):036009.
[29] PHAN H V, PARK H C. Design and evaluation of a deformable wing configuration for economical hovering flight of an insect-like tailless flying robot[J]. Bioinspiration & Biomimetics, 2018, 13(3):036009.
CJA