The Research Of Wing Moving And Control System For Micro Flying Robot With Flapping Wings

The micro flying robot with flapping wings is a bionic flying vehicle, which would find its extensive application for military and civilian purposes. At present, it has become a very active area of research in the world. Being a part of"Bionic flying robot and its key technologies"research, the moving models of wing and control system are studied in this paper. The major content and contribution of this paper are summarized as follows.A set of coordinate systems for the micro flying robot with flapping wings are established. The relationships and corresponding parameters of coordinate systems are defined, and the transformation matrixes between the coordinates transforms are derived.Aiming at researching the moving forms of flapping wings for micro flying robot, this paper proposes two kinds of flapping model for the rigid wings and the flexible wings, analyzes and calculates the aerodynamic forces and aerodynamic moments for the two flapping models. Further analyzed is the influence of parameters of movement for the aerodynamic forces and moments. Moreover, the features of these two models are compared respectively. Flapping robot with rigid wings has two flight modes, the horizontal flight and hovering flight, which may enhanced flight mobility if they work together. Flapping robot with flexible wings is suitable for forward and hovering flight, and the flexible wings enhance the aerodynamic efficiency and the flight stability. Also proposed is the mechanism of"fish tail effect", which produces the aerodynamic force in wing back edge, for the flexible structure wing. Meanwhile, this paper points out that the manufacture material and the wing string rigidity of flexible wing are the key technology that has positive impact upon the flexible wing performance.The aerodynamic forces and moments which produced by two flapping wings are calculated for two flapping models. By the analysis of kinematics and dynamics for two kinds of flapping models, the paper exports the moving differential equations for body of micro flapping robot. Based on the equations, the position and attitude of micro flying robot with flapping wings can be controlled.For the rigid structure wing, a double rocker mechanism typical of two DOFs(Degree Of Freedom) is designed, which is actuated by two PZTs. The mechanism can actuate the rigid wing to realize two DOFs movements. This mechanism has many characteristics, simple instructure, light in weight, reliable in movement, large in range, easy in drive and convenience in control. Because the PZT's voltage is high, independent flight is still difficulty at present. For the flexible structure wing, a motor-driven crank rocker mechanism is designed, which can be used in manufacturing the grand flying robot. However, this mechanism microminiaturization is difficult.For flying control system of micro flapping robot, the multilevel control system is proposed. It decomposes the global control system into three independent control systems, trajectory planner control system, position control system and attitude control system. For the position and the attitude control system, a method of average aerodynamic forces and moment is designed. At the end of each wing beat, the controller schedules the desired parameters of flapping wing according to state feedback errors. Further proposed is the position and the attitude control method separately, and also defined is the control parameter and decouple control system for different flapping model. Application of artificial neural network for micro flying robot in hovering flight is discussed. Finally, the control systems are simulated and analyzed by the MATLAB.The aerodynamic forces experiments for rigid and flexible wing are tested on the aerodynamic force measure equipment which is designed and developed by ourselves. The experimental result has confirmed the aerodynamic forces as put in theoretical analysis of micro flapping wing. A large-scale test model of micro flying robot with flapping wings is designed and developed. Its structure and material are clarified, The test flight has been successful.