Modeling and Trajectory Tracking Control for Flapping-Wing Micro Aerial Vehicles

This paper studies the trajectory tracking problem of flapping-wing micro aerial vehicles(FWMAVs)in the longitudinal plane.First of all,the kinematics and dynamics of the FWMAV are established,wherein the aerodynamic force and torque generated by flapping wings and the tail wing are explicitly formulated with respect to the flapping frequency of the wings and the degree of tail wing inclination.To achieve autonomous tracking,an adaptive control scheme is proposed under the hierarchical framework.Specifically,a bounded position controller with hyperbolic tangent functions is designed to produce the desired aerodynamic force,and a pitch command is extracted from the designed position controller.Next,an adaptive attitude controller is designed to track the extracted pitch command,where a radial basis function neural network is introduced to approximate the unknown aerodynamic perturbation torque.Finally,the flapping frequency of the wings and the degree of tail wing inclination are calculated from the designed position and attitude controllers,respectively.In terms of Lyapunov's direct method,it is shown that the tracking errors are bounded and ultimately converge to a small neighborhood around the origin.Simulations are carried out to verify the effectiveness of the proposed control scheme.

IMPROVED UVLM FOR FLAPPING-WING AERODYNAMICS COMPUTATION

To calculate the aerodynamics of flapping-wing micro air vehicle（MAV） with the high efficiency and the engineering-oriented accuracy,an improved unsteady vortex lattice method （UVLM） for MAV is proposed. The method considers the influence of instantaneous wing deforming in flapping,as well as the induced drag,additionally models the stretching and the dissipation of vortex rings,and can present the aerodynamics status on the wing surface. An implementation of the method is developed. Moreover,the results and the efficiency of the proposed method are verified by CFD methods. Considering the less time cost of UVLM,for application of UVLM in the MAV optimization,the influence of wake vortex ignoring time saving and precision is studied. Results show that saving in CPU time with wake vortex ignoring the appropriate distance is considerable while the precision is not significantly reduced. It indicates the potential value of UVLM in the optimization of MAV design.

Investigation of electrostriction appliance and its applicationfor bionics flapping aircraft

A novel design for an electrostriction appliance derived from the theory and application of electromagnetics is presented. The working principle, that is the application of gravitation and elasticity together to realize the ＂shrinking＂ and ＂extending＂ effect from the distortion and transforming power into mechanical energy, is briefly explained. The characteristic parameter relationships are established and the experimental research is performed. Experimental results show that this sort of electrostriction appliance can perform well as regards driving force and beeline displacement, and furthermore, its self-weight is smaller. This makes it suitable for beeline drivers with a high application value, especially for the driver of the bionic appliance. In the application of the electrostriction appliance to a bionics-flapping aircraft, the wings can work with a flapping angle in the range of a certain value by controlling the ＂shrinking＂ and ＂extending＂ of the electrostriction appliance. It can reduce the startup power and the impact load of the driver. The flapping extent of the wings will change when the voltage which is put into the electrostriction appliance varies. This makes it more flexible as the bionics-flapping aircraft realizes different actions of flying.

Controlled flight of a self-powered micro blimp driven by insect-sized flapping-wing thrusters

Micro aerial platforms face significant challenges in achieving long controlled endurance as most of the energy is consumed to overcome the weight of the body.In this study,we present a controllable micro blimp that addresses this issue through the use of a helium-filled balloon.The micro blimp has a long axis of 23 cm and is propelled by four insect-sized flapping-wing thrusters,each weighing 80 mg and with a wingspan of 3.5 cm.These distributed thrusters enable controlled motions and provide the micro blimp with an advantage in flight endurance compared to multirotors or flapping-wing micro aerial vehicles at the same size scale.To enhance the performance of the controlled flight,we propose a wireless control module that enables manipulation from a distance of up to 100 m.Additionally,a smartphone application is developed to send instructions to the circuit board,allowing the blimp to turn left and right,ascend and descend,and achieve a combination of these movements separately.Our findings demonstrate that this micro blimp is one of the smallest controlled self-powered micro blimps to date.

Topology optimization in lightweight design of a 3D-printed flapping-wing micro aerial vehicle

Topology optimization is an effective method to obtain a lightweight structure that meets the requirements of structural strength.Whether the optimization results meet the actual needs mainly depends on the accuracy of the material properties and the boundary conditions,especially for a tiny Flapping-wing Micro Aerial Vehicle(FMAV)transmission system manufactured by 3D printing.In this paper,experimental and numerical computation efforts were undertaken to gain a reliable topology optimization method for the bottom of the transmission system.First,the constitutive behavior of the ultraviolet(UV)curable resin used in fabrication was evaluated.Second,a numerical computation model describing further verified via experiments.Topology optimization modeling considering nonlinear factors,e.g.contact,friction and collision,was presented,and the optimization results were verified by both dynamic simulation and experiments.Finally,detailed discussions on different load cases and constraints were presented to clarify their effect on the optimization.Our methods and results presented in this paper may shed light on the lightweight design of a FMAV.

Generation of Control Moments in an Insect-like Tailless Flapping-wing Micro Air Vehicle by Changing the Stroke-plane Angle

We propose a control moment generator to control the attitude of an insect-like tailless Flapping-wing Micro Air Vehicle （FW-MAV）, where the flapping wings simultaneously produce the flight force and control moments. The generator tilts the stroke plane of each wing independently to direct the resultant aerodynamic force in the desired direction to ultimately generate pitch and yaw moments. A roll moment is produced by an additional mechanism that shifts the trailing edge, which changes the wing rotation angles of the two flapping wings and produces an asymmetric thrust. Images of the flapping wings are captured with a high-speed camera and clearly show that the FW-MAV can independently change the stroke planes of its two wings. The measured force and moment data prove that the control moment generator produces reasonable pitch and yaw moments by tilting the stroke plane and realizes a roll moment by shifting the position of the trailing edge at the wing root.

空间飞行器的指向误差混合分布模型

在空间探测任务中,飞行器会受到机械冲击、跟踪噪声等因素的影响发生角微振动,使天线指向误差恒不为0,从而影响通信链路.针对典型的指向误差单一分布模型如高斯分布、瑞利分布和莱斯分布忽略多种误差源共同影响的缺点,提出指向误差混合分布模型,将多种误差源同时考虑在内,极大地提高了模型的准确性.首先,根据多个空间飞行器奥林巴斯通信卫星OLYMPUS、工程测试卫星ETS-VI、光学轨道间通信工程试验卫星OICETS和量子科学实验卫星MICIUS角微振动信号的功率谱密度拟合指向误差信号.然后,对比单一分布模型和混合分布模型与指向误差拟合信号的确定系数R^(2),确定最优分布模型.结果表明:由高斯分布和莱斯分布组成的混合分布模型拟合度最高.以OLYMPUS飞行器为例,高斯-莱斯混合分布模型的拟合度比单一分布模型中的瑞利模型提高27.44%,误比特率偏差降低2.87 dB.

低空雷达盲区小微飞行器航迹融合方法

雷达是现代军事战争重要的监测工具,但其无法发现低空雷达盲区的小微飞行器.为实现雷达盲区飞行器的有效监测,设计了低空雷达盲区小微飞行器监测装置,提出了一种低空雷达盲区小微飞行器航迹融合算法,并进行了仿真实验.结果表明,低空雷达盲区小微飞行器航迹融合算法优于现有算法.该方法的提出有助于提高雷达盲区小微飞行器的识别,为近距离巷战提供了可靠的装备.

微型飞行器的研究现状及其关键技术

介绍微型飞行器的概念及其功能特点 ,重点综述了目前国内外微型飞行器的研究现状 ,归纳出微型飞行器的六大关键技术和目前存在的主要问题 。

微型飞行器低雷诺数空气动力学

微型飞行器(MAVs)设计绝不是常规飞行器在尺度上的简单缩小,面临许多技术难题．其中微型飞行器低雷诺数空气动力学是其最为根本的技术瓶颈之一,也是当前受到广泛关注的热点之一．本文紧密结合微型飞行器技术,对这一领域中所面临的低雷诺数空气动力学问题和近两年来该方向国内一些新的进展进行了较为详细的介绍．按照MAVs飞行方式和结构特性进行分类,简单介绍微型飞行器研究中的低Re数空气动力学问题．首先介绍了二维和三维固定翼低雷诺数空气动力学问题:包括层流分离泡,翼型升力系数小攻角非线性效应,静态迟滞效应,以及低Re数小展弦比机翼气动特性．第2,介绍了拍动翼低雷诺数空气动力学方面的研究工作．包括前人提出的昆虫低Re数下获得高升力的多种非定常拍动翼飞行机制:Wagner效应、Weis-Fogh效应(clap-and-fling)、延迟失速效应(delayed stall)、Kramer效应(rotational forces)、尾迹捕获效应(wake capture)、附加质量效应(added mass)等．以及国内学者近几年在拍动翼方面取得的一些研究成果．第3,介绍了柔性翼低雷诺数气动问题．研究表明柔性翼对于固定翼微型飞行器提高抗阵风能力,拍动翼微型飞行器产生足够的升力和推力．最后简单介绍了可变形翼(morphing wing)微型飞行器方面的一些研究工作,指出微型飞行器技术可以通过采用可变形翼设计,突破众多的技术瓶颈．另一方面,可变形翼概念可以通过在低成本,低速的MAVs上进行飞行试验,获得非常好的验证平台．

西北地区春季云系的垂直结构特征飞机观测统计分析

根据2001年5—6月8架次的飞机探测资料,配合地面观测和卫星资料综合分析得出了西北地区春季云系的垂直结构宏微观特征,包括云厚、云底高度、云粒子浓度、含水量、有效半径、粒子谱分布函数等。降水性层状云厚平均约2000 m,低云含水量垂直方向上平均为0.07 g·m^(-3),中云含水量垂直方向上平均为0.03 g·m^(-3)。对比分析降水云和非降水云系的微物理特征量,两者存在显著的差异,降水性层状云有效半径要达到10～16μm。

一种柔性微型扑翼设计及其气动力特性的试验研究

微型扑翼机以其优良的机动性、低噪音、低成本、执行任务的多功能性以及在现代高科技局部战争中的潜在应用价值而得到各科技先进国家的重视,投入了大量精力开展研究工作。在我国也已经初步开展对微型扑翼机研究。但由于与微型扑翼飞行相关的低雷诺数空气动力学研究还处于萌芽阶段,对微型扑翼的设计研究工作尚无可供指导的成熟理论和借鉴的经验,目前微型扑翼的设计研究基本上是以试验为主。本文参照动物的扑翼飞行实例和固定翼飞行器机翼设计的经验,在对扑翼飞行基本原理分析研究的基础上,设计制作了一种微型扑翼及扑翼的驱动机构,采用直流电动机作为动力,通过调节驱动电压来控制扑动的频率。并对该微型扑翼进行了空气动力特性试验,得到了微型扑翼的空气动力特性,并从中得出了影响扑动升力的一些因素。实验结果表明,具有柔性翼面的扑翼,其产生的升力和推力较高而且比较稳定。

四旋翼微型飞行平台姿态稳定控制试验研究

对四旋翼飞行平台姿态稳定控制进行了试验研究,建立了数学模型,在Matlab环境下使用PID控制器进行了模拟仿真研究。基于仿真结果,设计了以TMS320F2808为核心处理器,以MIN-INA900为飞行平台测姿传感组件的飞行试验平台,进行了单通道系留试验和六自由度试验,试验结果表明:PID控制器能够实现对飞行平台姿态的控制。

山西省2008—2010年64架次飞机云物理观测结果分析

利用山西省2008-2010年64架次云结构的飞机探测资料,结合地面观测和卫星数据统计分析了层状云系的宏微观特征.结果表明：降水云和非降水云系的微物理特征量,两者存在显著的差异,层状云要达到降水,云的厚度要达到近2000 m;粒子尺度分布云粒子有效半径要达到10～14 μm,降水性层状云低云含水量垂直方向上平均为0.03 g/m^3,中云含水量垂直方向上平均为0.05 g/m^3,;避光高层云-层积云、雨层云降水过冷水的最大值出现在距0℃层高度以上500 m附近,其最大值分别为0.61,0.42 g/m^3;透光高层云降水过冷水的最大值出现在距0℃层高度以上300 m附近,其值为0.28 g/m^3;云中水分按不同粒子尺度的分配可以看出,直径20、30μm的粒子含水量较高,对云中液态水含量的贡献较大,降水粒子主要由20、30μm的粒子转化;降水性层状云在垂直方向上的微物理结构特征非常明显,也是分层的.高层主要是冰相粒子,是冰雪晶,随高度降低冰雪晶的尺度增大,在4个典型温度层的观测中,液态含水量、云粒子及降水的浓度、尺度相较有很大不同.

基于虚拟配合面的带平面度零件装配容差分析

为实现平面配合装配中尺寸容差与平面度容差的耦合分析,构建了虚拟配合面,借助微动平面实现虚拟配合面的参数化表示。基于虚拟配合面,将平面度容差分解为配合中待装配零件在参考坐标系中沿装配方向的平动及其绕坐标轴的转动,平动分解量为平面度容差值,而旋转角度则由平面度容差与配合面的尺寸确定。建立了装配体全局坐标系,构造空间矢量尺寸链,将平动量和转动量映射到尺寸链中,完成了装配容差分析。通过某型飞机机翼组件验证了所提方法的有效性。

激光切割对飞机蒙皮材料力学性能的影响分析

激光切割在制造业中的应用越来越广泛,而铝合金飞机蒙皮材料对激光的吸收率低,激光切割质量较差,所以在激光切割在蒙皮的加工制造过程中一直没有得到应用。为了探索飞机蒙皮材料的激光切割性能以及切割后其力学性能的变化,对激光切割试件进行了表面形貌分析、显微硬度测试以及拉伸、压缩、剪切测试。试验结果显示,试件激光切割后出现了明显的挂渣,拉伸强度略有下降,压缩和剪切强度没有变化。因此只要优化激光切割工艺,提高切割质量,激光切割技术就可以推广应用到飞机蒙皮材料的边缘切割。

发动机导向叶片热气防冰腔结构改进

在采用数值模拟方法对某型发动机导向叶片热气防冰腔的流动与换热性能分析基础上,提出了微小通道换热结合气膜排气的新型防冰腔结构。数值模拟中采用分区对接块结构化网格,通过求解EULER型的空气/过冷水滴两相流控制方程,得到了气膜影响下导向叶片外的三维水滴撞击特性,并将改进后防冰腔的换热性能进行了对比。结果表明,改进后的热气防冰腔的换热效率得到了大幅提高,同时气膜对过冷水滴的遮蔽作用明显增强。

微小型四旋翼飞行器多信息非线性融合导航方法及实现

导航系统的完好性及可用性是微小型无人飞行器实现自主可靠飞行的重要保障。本文设计了基于ARM处理器的四旋翼飞行实验平台,提出一种采用MEMS微惯性器件、磁强计、GPS、光流图像传感器及气压计的多信息融合导航方案,针对多传感器数据更新不一致的问题,提出了时间更新和量测更新分离的异步滤波方法。针对微小型四旋翼无人飞行器的易受环境影响和多信息数据融合的非线性特点,研究了Sigma点卡尔曼滤波器(Sigma-point Kalman filter,SPKF)的应用,构建了一种新型的四旋翼飞行器微型多信息导航系统。实验表明,该系统在静态和动态飞行环境下可对飞行器的姿态、速度和位置进行可靠估计和量测,能够保证四旋翼飞行器自主飞行的精度和可靠性,满足多种任务需求。

增益自适应滑模控制器在微型飞行器飞行姿态控制中的应用

针对微型飞行器的姿态角摄动引起的系统不确定性及外界干扰等问题,提出了基于区间二型模糊神经网络辨识的增益自适应模糊控制器。首先,给出了微型飞行器姿态动力学模型。然后,采用区间二型模糊神经网络对滑模控制器中由于姿态角摄动引起的系统不确定性进行在线辨识,通过增益自适应滑模控制器中的校正控制项对辨识误差及负载干扰进行补偿。最后,通过设计李亚普诺夫函数,得到闭环系统一致稳定条件下的区间二型模糊神经网络参数在线调整的自适应律及滑模增益自适应律。仿真对比表明,与传统的增益自适应滑模控制器和基于一型模糊神经网络辨识的滑模控制器及相比,本文提出的控制器不仅对系统的不确定性因素及外界干扰具有较强的鲁棒性,而且稳定误差小,跟踪精度高。

智能蒙皮飞行器的飞行控制研究

将嵌入大量微致动器元件的智能蒙皮应用于飞行器,以增强或替代传统的控制面来产生控制力矩,使飞行器稳定并能进行机动飞行。以无尾飞行器为例,推导了其动力学模型,并设计了状态反馈控制器。仿真结果表明,所讨论的智能蒙皮对机动要求不大的无尾飞行器具有足够的控制能力。