无尾扑翼无人机动力学建模及仿真

Dynamic Modeling and Simulation of a Tailless Flapping Wing Robot

近年来,仿生无人机在战场侦察和飞行巡逻等方面应用广泛,使其成为无人机领域的研究热门,传统仿生无尾扑翼无人机的飞行建模问题通常较为复杂,计算难度较大,因此亟待对此类无人机进行飞行控制的研究;文章针对仿昆虫无尾扑翼无人机的动力学建模问题进行了研究,基于叶素法、准稳态假设模型以及刚体动力学建模方法,对机翼运动进行受力分析,得到机翼的动力学模型;机体采用刚体动力学方法,建立无人机飞行模型;仿昆虫无尾扑翼无人机系统采用PID控制模型对机体纵向动力学模型控制,以俯仰角±15°、±30°阶跃输入方式,通过实验表明,系统的超调量分别为15.13%和16.23%,调节时间分别为0.5s和1s,稳态误差符合实验要求。

Tailless flapping wing robot(TFWR)was extensively used in battlefield reconnaissance and flight patrols recently years.Widely using of TFWR in different aspects made them become a hot research topic in the field of drones.There exist some problems in traditional bionic TFWR modeling process such as model is too complicate and calculate is too difficult.Therefore,it is necessary to do some researches on flight control of such drones.The paper has done some research on the dynamic modeling process of TFWR based on the blade element method,the quasi-steady-state assumption model and the rigid body dynamics modeling method.According to the force analysis of the wing motion,the dynamic model of the wing is obtained.The flight model of TFWR is established by a rigid body dynamics method.The PID control model is used to control the longitudinal dynamic model of the TFWR,and the step input mode of pitch angle±15 degree and±30 degree is adopted.The experimental results shows that the overshoot of the system is 15.13%and 16.23%respectively,and the adjustment time is 0.5 s and 1s respectively.The steady-state error meets the requirements of the experiment.