微扑翼飞行器位置控制研究

研究了微扑翼飞行器位置控制系统设计.在完成气动力计算模型和运动参数(拍动平面夹角、拍动频率、拍动幅值、旋转幅值)对气动力影响基础上,建立了微扑翼飞行器纵向动力学模型,采用了切换控制策略,选择拍动平面夹角和拍动幅值作为控制参数,利用位置误差和速度误差线性组合作为反馈信号,计算平均力,确定切换参数,完成控制规律设计.对爬升和水平飞行的控制进行了仿真实验.仿真结果表明,在切换控制策略下,Y方向上经过0.13 s后进入平飞阶段,Z方向上经过5 s后进入平飞阶段,在一定的误差范围内,所设计的控制规律可以实现位置控制.

The Position Control of Flapping Micro Air Vehicle

The position control system design of flapping micro air vehicle has been investigated.On the basis of the calculation model of aerodynamic and affects of motion parameters such as angle,flapping frequency,flapping amplitude,rotation amplitude on aerodynamic force.The paper presents a longitudinal dynamic model of FMAV.Switching control strategy is adopted for position control.To design the switching control,flapping plane angle and flapping amplitude angle are regarded as control parameters,feedback information is the linear combination of position error,and velocity error,and average aerodynamic force is calculated to decide switch parameters.Finally,climbing flight and horizontal flight of micro flapping flight are simulated.The results show that control law can be used to position in accepted errors tolerance.