仿昆扑翼飞行器全解耦控制

Decoupled Control for Insect-like Flapping Wing Air Vehicles

针对仿昆扑翼飞行器飞行控制所面临的欠驱动问题,基于平均理论,提出采用周期时变反馈策略控制仿昆扑翼飞行器的策略,并给出了设计周期时变反馈控制器的输入参数化设计方法.该方法对飞行昆虫的扑翼运动进行仿生模拟,通过调整根翅运动参数,实现了对6个方向气动力和力矩的独立控制.本质上就是用参数表示欠驱动系统的输入,并以此构造周期时变反馈函数;从而在原系统中引入更多数目的独立控制量,将原系统转化为完全能控系统.然后,将此可控系统线性化,并利用线性反馈控制器设计工具设计其反馈控制律.仿真结果表明,基于该策略设计的控制器具有响应速度快、稳定误差小、鲁棒性强等特点.

In order to solve the underactuation problem in flight control of insect-like flapping wing micro air vehicle （FMAV）, a periodic time-varying feedback control strategy based on averaging theory is proposed to control the FMAV and the input parametric design method for the controller is givenl The approach control the six forces and torques of the FMAV independently by adjusting wing kinematics parameters based on simulating the flapping motion of flying insect. It is essentially that the input of the underactuated system is parameterized to design periodic time-varying feedback function, and then more independent control parameters can be introduced into the original system to make it completely controllable. Then the controllable system is linearised and the control law is designed by standard linear feedback controller design tools. Simulation results demonstrate that the controller designed by such strategy has such characteristics as rapid response, small steady-state error and strong robustness.