微扑翼飞行器气动力和位置控制研究

Research on Aerodynamic Force and Position Control of Micro Flapping Flight

随着微扑翼飞行器研究的不断深入,对其控制问题研究已引起了人们的重视。基于准稳态气动力模型,研究了微扑翼飞行器气动升力和阻力,建立了微扑翼飞行器纵向动力学模型,针对微扑翼飞行器非线性强耦合特点,采用切换控制策略进行纵向位置控制,选择扑动平面夹角和扑动幅度作为控制参数,利用位置误差和速度误差线性组合作为反馈信号,通过数值方法计算平均力,确定控制参数取值,完成了切换控制律设计。最后进行了微扑翼飞行器爬升飞行和水平飞行的控制仿真实验。

As micro flapping flight is investigated further, its control is paid more attention to. Based on the quasi-state aerodynamic model of micro flapping flight, the aerodynamic lift and drag was investigated, and a dynamic model in longitudinal plane was proposed. Considering the nonlinear and coupled characteristic of micro flapping flight, switching control strategy was used for position control. Then, flapping plane angle and maximal flap angle was chosen as control parameters, and feedback information is the linear combination of position error and velocity error. After control parameters were decided through computing average force with numerical method, switching control law was designed. Finally, climbing flight and horizontal flight of micro flapping flight were simulated.