微型拍翅式飞行机器人平飞位置控制的研究

Study on position control of horizontal flight for micro flying robot with flapping wings

对微型拍翅式飞行机器人平飞飞行的位置控制,提出了一个基于平均气动力的控制方案,在每个拍动周期结束后,根据位置的状态反馈误差调整参数.通过改变翅的拍动倾斜角和拍动频率来获得所需的平均气动力.在飞行机器人进行水平飞行和垂直飞行时,对控制系统进行解耦.最后对控制系统进行仿真,仿真结果表明该系统具有鲁棒性.

For position control on horizontal flight of micro flying robot with flapping wings, a method based on average forces is proposed. At the end of each wingbeat, the controller adjusts the desired parameters according to state feedback errors. The motion of wing is parameterized by incline angle and flapping frequency which is sufficient to generate desired average forces to regulate its position. The position control system is decoupled under horizontal and vertical flight： The simulating results show robust stabilization for the position control system.