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...     

含间隙的翅翼机构运动稳定性的研究

在分析了常用的运动稳定性分析方法优缺点和局限性的基础上,应用Floquet-Lyapunov理论对以连续接触模型建立的含间隙翅翼机构动力学方程周期解的稳定性进行分析.研究结果表明,当间隙值大于某一值时,机构的周期运动将是不稳定的.     

扑翼的非定常水动力特性数值研究

研究水下推进装置结构优化设计问题,建立了扑翼的简谐运动模型,根据有限体积法和非结构动网格技术,完成了对扑翼运动的非定常建模研究.通过计算得到了扑翼运动的水动力特性及流场的变化规律,提出了扑翼产生的涡的特点及其作用机制.计算结果表明:在简谐运动驱动下,扑翼运动能产生较大的推力,而产生的升力较小;扑翼运动过程中伴随着涡的生成和脱离,尾涡能有效地提高扑翼产生的推力,前沿涡能抑制推力的产生和延缓升力的下降趋势.以上研究为水下推进装置优化设计提供了参考依据.     

Adaptive pole placement pitch angle control of a flapping-wing flying robot

An adaptive pole placement control scheme for the adaptive pitch angle control of a bird-like flapping-wing flying robot is designed and implemented. The salient aims of this work are notably twofold: first, since the dynamics of bird-like flapping-wing robots are still not well understood and hence obfuscate the process of deriving a high-fidelity aerodynamical model, we instead elect to designate the system identification component of the control scheme to provide real-time estimates of the low level robot parameters. Input and output data are collated during flight and the recursive least squares method is applied to obtain real-time parameter estimates. Estimated parameters are subsequently used in designing the control law using adaptive pole placement via the polynomial method where we prescribe the desired closed-loop characteristic equation. Secondly, even if the dynamics of the robot varies over time, it is accounted by the adaptive controller without any need to perform tuning since proportional gain values are spontaneously generated. Numerical simulations are first used to assist the design and validate the correct operation of the control scheme. It is then implemented on a real bird-like flapping-wing flying robot; experimental results obtained exhibit close congruence with simulation results.     

仿生微扑翼飞行器的翅翼设计与优化

提出了微扑翼机构翅翼的共振激励放大驱动机理及其对翅翼的振动模态要求,并依据该机理用有限元方法研究了微扑翼飞行器的仿生翼设计和优化问题。通过对3种仿昆虫翅翼的模态分析,总结出能够满足共振激励要求的翅翼外型和翅脉布局,建立了参数化的自定义仿生翼模型。在此基础上,以翅翼的展弦比和翅脉关键点的坐标为主要参数,使用有限元优化方法,对仿生翅翼的模态优化进行了初步探讨。文中的建模、分析方法和结论对微扑翼飞行器的分析、设计和应用提供了一定的理论依据。     

仿鸟微扑翼飞行器姿态控制模型研究

设计了仿鸟微扑翼飞行器气动结构布局,采用RBF神经网络辨识获得机翼气动升力和阻力模型,研究了尾翼气动力矩模型,在此基础上建立仿鸟微扑翼飞行器姿态控制模型,并通过仿真研究验证了姿态控制模型的正确性.     

电磁振动式微扑翼飞行器动态特性研究

电磁驱动具有驱动电压低、作用力大等优点, 是微机械领域一种重要驱动方式。本文设计了一种电磁振动式微扑翼飞行器，在此基础上，建立了电磁振动式微扑翼飞行器非线性动力学模型，研究了不同电磁力激励下系统动态特性，获得了系统固有频率，并得出方波和正弦半波电磁力驱动能够产生较大扑动幅度的结论。最后，研究了电磁振动式微扑翼飞行器机-磁耦合非线性系统动态特性，研究结果表明电磁振动式微扑翼飞行器适合采用正弦半波电压激励，而且通过结构改进措施，提高了扑动的对称性和稳定性。     

Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles

This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination.To achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical framework.Specifically,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position controller.Next,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque.Finally,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,respectively.In terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.Simulations are carried out to verify the effectiveness of the proposed control scheme.     

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.