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, 提出了利用奇异摄动理论分析扑翼飞行周期稳定性的方法, 指出了其相对于其他方法的优越性; 最后, 在自制的四自由度扑翼飞行器完成了真实的飞行实验, 验证了所提方法的有效性.

Control Oriented Modeling and Singular Perturbation Analysis in Flapping-wing Flight

In view of the periodicity and the time scale difference in flapping flight,as well as the practical prob-lems in the control of flapping flight,a singular perturbation theory based system stability analysis method for peri-odic flapping-wing motions is proposed in this paper.Firstly,a multi-rigid body model of flapping wing vehicle is es-tablished,which paves the way for the singular perturbation analysis of flapping wing dynamics.Secondly,the multi rigid body model is simplified,and the core problem of flapping wing flight dynamics is abstracted.By using the singular perturbation theory,the stability of flapping wing flight periodic orbit is analyzed,and its superiority com-pared with other methods is discussed.Finally,the experiments of real flight are conducted in the self-made four de-grees of freedom flapping wing aircraft,which verify the effectiveness of the proposed method.