微型仿昆扑翼飞行器解耦操控机制

A Decoupled Control Mechanism for Insect-like Flapping Wing Micro Air Vehicles

提出一种解耦操控机制,用于解决微型仿昆扑翼飞行器飞行控制中的欠驱动问题.首先通过理论分析和仿真试验分析了翅膀的振翅运动参数对气动力旋量的控制作用;然后在对昆虫飞行所采用的生物学振翅运动进行模拟的基础上,通过调整翅膀的振翅运动参数,设计了一个能对气动力和气动力矩实现独立控制的解耦操控机制.此操控机制采用周期函数将控制输入量参数化,从而在仿昆扑翼布局的动力学模型中引入更多数目的独立控制量.通过将原动力学系统转化为完全能控系统,解决了仿昆扑翼布局的欠驱动控制问题.同时,此操控机制仅仅要求转动角可控,有效地降低了仿昆扑翼飞行器的设计难度.

A decoupled control mechanism is proposed to solve the underactuation problems existed in flight control of the insect-like flapping wing micro air vehicles （FMAVs）. The control effect of wing kinematics parameters on aerodynamics wrenches is analyzed firstly with theoretical analysis and simulation, and then a decoupled control mechanism is designed by mimicking the biological motion of insect flight, which can control the aerodynamics forces and moments independently by adjusting the wing kinematics parameters. This mechanism uses periodic function to parameterize the control input so that more independent control parameters can be incorporated into the dynamics of insect-like FMAVs, and solves the underactuation problem by making the original dynamics fully controllable. Meanwhile, the presented controlled mechanism only requires the attack angle to be controllable, and effectively reduces the difficulty in designing insect-like FMAVs.