仿猎鹰扑翼飞行器自主飞行控制系统设计

仿生扑翼飞行器作为一种新型的飞行器,具有噪声小、隐蔽性好、机动性强、能量利用效率高等优势,在民用和军用领域具有广阔的应用前景.仿生扑翼飞行器的自主飞行能力是高效执行飞行任务的关键.目前,国内外飞行器的自主飞行研究已经取得了一些成果,然而鲜有以仿生扑翼飞行器为载体的研究.仿生扑翼飞行器特有的驱动结构给自主飞行控制研究带来了较大的挑战.本文以仿猎鹰扑翼飞行器作为研究平台设计了自主飞行控制系统.由于仿猎鹰扑翼飞行器的负载较小,本文采用了重量较轻的STM32微型计算平台作为主控芯片设计了硬件系统.由于微型计算平台的算力有限,本文综合考虑制导精度和运算速度,提出了一种线性/非线性切换制导算法,并通过仿真实验与线性制导、非线性制导算法进行了对比,证明了其更加适合于仿猎鹰扑翼飞行器.考虑到仿猎鹰扑翼飞行器的机构滞后问题,对其滚转角和高度设计了一个串级PID控制器.结合面向仿猎鹰扑翼飞行器的地面站软件,最终实现了基于仿猎鹰扑翼飞行器的自主定高圆弧轨迹跟踪任务.     

扑翼飞行器的建模与控制研究进展

扑翼飞行器（Flapping-wing air vehicle,FAV）即通过模拟昆虫以及鸟类飞行方式而制造的仿生机器人.与常见的固定翼和旋翼飞行器相比,具有效率高、质量轻、机动性强、耗能低等显著优点,是飞行器发展的重要方向.关于扑翼机的研究始于上世纪后期,现如今从理论探索到机体开发都有了可喜的成果.本文首先介绍了世界领先的几款扑翼飞行器的特点,接着简述了扑翼飞行器在动力学、能源、控制等方面的发展现状,并对未来的研究方向做出了展望.     

微扑翼飞行器控制系统相关技术研究进展

微型扑翼飞行器(FMAV)由于微型化和采用扑翼飞行方式的特征,许多传统理论和设计方法不再完全适用,相关理论和技术仍在不断地发展中,所以对国内外相关理论和技术的发展现状进行及时跟踪和研究,具有非常重要的参考意义;通过调查研究,介绍了与微型扑翼飞行器控制系统有关的低雷诺数非定常空气动力学、控制系统数学模型、控制方案和控制方法等的研究进展,总结出了微型扑翼对飞行器控制系统的设计要求,控制系统的特点和需要解决的关键问题,并展望了未来发展趋势。     

仿鸟扑翼飞行器姿态镇定研究

针对仿鸟扑翼飞行器的欠驱动特性,提出了一种简化其飞行控制问题并实现其局部渐近稳定的控制方法．建立并分析了仿鸟扑翼飞行器的动力学和运动学模型,证明其控制问题等价于升力、推力独立可控情况下的姿态控制问题．进一步分析的结果表明,仿鸟扑翼飞行器的升力、推力都是独立可控的,其姿态控制为耦合输入下刚体的姿态控制问题．通过设计光滑时变反馈控制律实现姿态控制的局部渐近稳定,从而解决扑翼飞行器的飞行控制问题．     

微扑翼飞行机器人姿态反演自适应模糊控制

研究微扑翼飞行机器人姿态控制优化问题,因扑翼飞行的复杂性、系统的非线性、时变参数以及各种干扰而极具挑战性.为了提高系统姿态稳定性,提出了一种反演自适应模糊控制策略,针对传统反演控制律设计的不足之处,对微扑翼飞行机器人控制律设计中需要知道被控对象精确模型信息的部分,采用模糊控制法去逼近,从而实现了无需微扑翼飞行器精确模型的全新控制律,避免了因建模误差对控制带来的不良影响,并在此基础上证明了系统的稳定性.仿真结果证实了控制方法的有效性.     

仿鸟类扑翼飞行器研究进展

仿生扑翼飞行器有着优异的气动性能和灵活的飞行能力,在军民领域均有广泛的应用前景,学者们在原理样机研制、扑翼气动机理、驱动机构、飞行控制等多领域取得了一系列重要进展.本文从总体设计方法、驱动机构设计与优化、气动机理等方面综述了仿鸟类扑翼飞行器技术的发展历程与研究进展.首先,从扑翼总体设计方法入手,总结了仿鸟类扑翼飞行器仿生构型,归纳了总体设计参数估算方法;其次,综述了多种构型曲柄连杆机构在扑翼驱动中的应用与优缺点;接着总结了扑翼气动机理研究的实验方法与数值计算方法,分析了不同扑翼气动算法针对不同应用场景在计算成本和准确度方面的优劣情况;最后,对仿鸟类扑翼飞行器系统设计研究现状进行总结,针对原理样机研制过程提出展望.     

面向扑翼飞行控制的建模与奇异摄动分析

针对扑翼飞行中的周期性和时标不一现象,以及扑翼飞行实际控制中的问题,本文基于奇异摄动理论,提出了一种针对扑翼周期系统的稳定性分析方法.具体而言,首先建立了扑翼飞行器的多刚体模型,为后文对翅翼动力学的奇异摄动分析铺平道路;其次,对多刚体模型进行简化,抽象出扑翼飞行动力学的核心问题,并针对实际控制中的问题,提出了利用奇异摄...     

基于线驱转向的仿蝴蝶扑翼飞行机器人系统设计与控制

作为一种新型飞行机器人, 仿蝴蝶扑翼飞行机器人模仿自然界蝴蝶的生物结构和飞行方式, 能够有效地融 入并适应复杂环境, 在军民融合领域具有广阔的应用前景. 目前针对仿蝴蝶扑翼飞行机器人的研究大多停留在对生 物蝴蝶飞行机理的研究, 鲜有能够实现自由可控飞行的机器人系统. 本文设计了一款基于线驱转向的仿蝴蝶扑翼飞 行机器人, 名为USTButterfly-S, 其翼展50 cm, 重50 g, 可实现长达5分钟的自由可控飞行. 首先结合生物蝴蝶翅膀的 扑动特征, 设计了双曲柄双摇杆对称扑翼驱动机构. 然后模仿凤蝶的翅翼形状, 设计了仿蝴蝶翼型. 对翅膀的几何学 分析表明, USTButterfly-S的翅膀与凤蝶具有较好的形态相似性. 接着针对仿蝴蝶扑翼飞行机器人的转向控制问题, 首次采用线驱动机构拉动翅膀调节翅翼面积, 进而实现了USTButterfly-S的无尾航向控制. 最后集成自主设计的飞 控系统, USTButterfly-S能够实现室内盘旋飞行并进行实时航拍. 在实际飞行实验中, USTButterfly-S展现出类似生 物蝴蝶的飞行特征.     

仿生变形飞行器的飞行特性研究

随着无人飞行器的小型化甚至微型化发展,扑翼飞行的优势逐渐显现出来。受鸟类及昆虫飞行运动的启发,分析鸟类及昆虫的扑翼运动特性,设计了一种鸟类扑翼飞行方式,使用涡格法进行了扑翼的气动计算,并采用质点弹道学模型分析了仿生飞行的轨迹特性。仿真结果表明,设计的扑翼运动效果良好。     

仿昆扑翼飞行器全解耦控制

针对仿昆扑翼飞行器飞行控制所面临的欠驱动问题,基于平均理论,提出采用周期时变反馈策略控制仿昆扑翼飞行器的策略,并给出了设计周期时变反馈控制器的输入参数化设计方法．该方法对飞行昆虫的扑翼运动进行仿生模拟,通过调整根翅运动参数,实现了对6个方向气动力和力矩的独立控制．本质上就是用参数表示欠驱动系统的输入,并以此构造周期时变反馈函数;从而在原系统中引入更多数目的独立控制量,将原系统转化为完全能控系统．然后,将此可控系统线性化,并利用线性反馈控制器设计工具设计其反馈控制律．仿真结果表明,基于该策略设计的控制器具有响应速度快、稳定误差小、鲁棒性强等特点．     

Modeling Synchronous Muscle Function in Insect Flight: a Bio-Inspired Approach to Force Control in Flapping-Wing MAVs

Micro-aerial vehicles (MAV) and their promising applications—such as undetected surveillance or exploration of environments with little space for land-based maneuvers—are a well-known topic in the field of aerial robotics. Inspired by high maneuverability and agile flight of insects, over the past two decades a significant amount of effort has been dedicated to research on flapping-wing MAVs, most of which aim to address unique challenges in morphological construction, force production, and control strategy. Although remarkable solutions have been found for sufficient lift generation, effective methods for motion control still remain an open problem. The focus of this paper is to investigate general flight control mechanisms that are potentially used by real insects, thereby providing inspirations for flapping-wing MAV control. Through modeling the insect flight muscles, we show that stiffness and set point of the wing’s joint can be respectively tuned to regulate the wing’s lift and thrust forces. Therefore, employing a suitable controller with variable impedance actuators at each wing joint is a prospective approach to agile flight control of insect-inspired MAVs. The results of simulated flight experiments with one such controller are provided and support our claim.     

微型扑翼飞行器的自适应位置跟踪控制器

微型扑翼飞行器是飞行器发展的重要方向,其位置跟踪控制成为该研究面对的首要问题.本文针对微型扑翼飞行器(flapping wing micro aerial vehicle,FWMAV)的位置跟踪控制问题展开研究,提出了一种可以避免控制系统陷入奇异且理论跟踪误差为零的自适应控制器.具体而言,首先提出了零梯度位置跟踪控制器.而后,理论分析表明其在解决FWMAV位置跟踪控制问题时存在局限性,即该控制器总是存在理论位置跟踪误差.为了弥补这一缺点,对零梯度控制器进行改进,提出了一种理论位置跟踪误差为零的自适应控制器,并利用非线性激励函数加快了位置跟踪误差的收敛速度.最后,仿真实验验证了该控制器的优越性.     

An experimental study of pilots' control characteristics for flight of an STOL aircraft in backside of drag curve at approach and landing

Abstract

In general, most vehicles can be modelled by a multi-variable system which has interactive variables. It can be clearly shown that there is an interactive response in an aircraft's velocity and altitude obtained by stick control and/or throttle control. In particular, if the flight conditions fall to backside of drag curve in the flight of an STOL aircraft at approach and landing then the ratio of drag variation to velocity change has a negative value (ΔD/Δu<0) and the system of motion presents a non-minimum phase. Therefore, the interaction between velocity and altitude response becomes so complicated that it affects to pilot's control actions and it may be difficult to control the STOL aircraft at approach and landing.

In this paper, experimental results of a pilot's ability to control the STOL aircraft are presented for a multi-variable manual control system using a fixed ground base simulator and the pilot's control ability is discussed for the flight of an STOL aircraft at backside of drag curve at approach and landing.     

A Hybrid Planning Approach for Accompanying Information-gathering in Plan Execution Monitoring

Journal of Intelligent & Robotic Systems - In this work, we present a new mathematic model for the flight of a bird-scale flapping-wing aerial vehicle, in which the impacts of the wing inertia...     

涵道尾座式垂直起降飞行器全包线飞行控制

本文针对一种新型涵道尾座式垂直起降飞行器的非线性控制问题, 提出一种全包线飞行控制方案. 在设计 的控制框架中, 采用统一的坐标系描述该飞行器的多模态特性. 对于不可测量的外部力矩, 设计了辅助系统进行观 测及自适应律进行补偿; 对于可测的合外力, 设计了一种基于加速度测量的拉力/姿态几何解耦方法; 同时, 给出了 保证闭环系统全局指数稳定的充分条件. 最后, 所述控制方案成功应用于一小型涵道尾座式无人机上, 并完成了飞 行器垂直/水平模态转换飞行试验, 验证了所提出方法的有效性.     

独立驱动的仿鸟扑翼飞行机器人的系统设计与实验EI北大核心CSCD

扑翼飞行机器人模仿自然界中的飞行生物,通过扑动翅膀拍打空气驱动飞行.它们机动性好、飞行效率高、噪音小,在某些应用场景比传统的固定翼飞机和旋翼飞机更有优势.目前扑翼飞行机器人的研究大多集中在机理研究和理论的建模与控制,鲜有实现室外的自主飞行,难以应对复杂的实际应用需求.在本文中,设计了一种独立驱动的仿鸟扑翼飞行机器人USTBird,通过两个舵机独立驱动左右翅膀可实现无可控尾翼的机动飞行.通过搭载自主设计的微型飞控板、GPS以及惯性导航模块,采用PD控制实现了扑翼飞行机器人的室外自主巡航飞行.设计了针对扑翼机器人的轻型两自由云台,很大程度上消除了机翼扑动飞行引起的图像抖动问题.针对机身振动和GPS测量误差带来的位置误差,采用无迹卡尔曼滤波算法对GPS采集的位置信息进行估计,提升了位置估计精度.设计了面向扑翼飞行机器人的地面站系统.考虑到扑翼飞行机器人存在的转向滞后问题,对偏航角设计双闭环分段PD控制器,最终实现了在外圆半径40 m和内圆半径10 m的圆环内的自主巡航任务.     

Modeling and Sliding Mode Control of a Micro Helicopter-Airplane System

This paper presents the regulation and trajectory tracking for a Micro Coaxial Rocket Helicopter (MCR UAV), as well as the control of a mini aircraft. The former vehicle has the characteristic of performing hover and forward flight while the latter vehicle is considered as an external air transporter for the MCR UAV. For control purposes, the helicopter stabilization is based on sliding mode controllers which avoid the chattering generated during the flight and allow the MCR UAV to perform tracking of smooth trajectories, Furthermore a PD controller stabilizes the aircraft in order to execute semi-autonomous flight. A flight computer for these aerial vehicles consists of a homemade embedded system, low-cost sensors, and signal conditioning circuits, analog filters and actuator. The proposed control algorithms are implemented on the embedded system. Simulation and experimental results show the good performance of the developed system during the flight.     

Mathematical model derivation of an unmanned circulation control aerial vehicle UC2AV

This paper presents a system identification method to derive accurate mathematical models for an unmanned circulation control aerial vehicle (UC$^{2}$AV) that account for the effects of circulation control (CC) on the vehicle dynamics. The X-plane flight simulator and the CIFER system identification software are utilized to first derive simulation models to verify and validate the proposed system identification methodology. This is followed by flight tests to derive mathematical models and stability derivatives for the aircraft with CC-on and CC-off. Flight tests indicate a nose down pitching moment effect induced by CC, which in turn alter the UAV trim values and dynamics. Analysis of the two sets of mathematical models reveal that CC changes the longitudinal trim values and improves the lateral maneuverability of the UAV. Verification experiments indicate an acceptable match between the derived models and UAV dynamics by calculating root mean square (RMS) error values and by quantifying the model predictive ability through calculating the Theil inequality coefficient (TIC).