Design Of Autonomous Flight Control System For A Bionic Flapping Wing Robot

Compared with traditional aircraft,bionic flapping wing robots(BFWR)have the advantages of good concealment,high flight efficiency and low noise.In recent years,it has been widely concerned by relevant institutions at home and abroad.BFWR has complex mechanism.With the rapid development of micro-electromechanical and robot technology,the bionic technology and flight performance have been greatly improved.However,autonomous intelligent control for BFWR is still in infancy,and it cannot efficiently complete complex flight tasks in the actual environment.The accurate mathematical modeling of BFWR is the key to achieve the autonomous flight of the system,and the accurate mathematical model depends on the physical structure of the prototype.Therefore,building a stable and reliable prototype platform and designing the corresponding flight control system according to the characteristics of the prototype is important to improve the autonomy,intelligence and unmanned level of BFWR.This paper mainly focuses on the reconnaissance mission of BFWR.Considering the bionic structure design,system dynamic performance constraints,aerodynamic output constraints and aerodynamic moment disturbance estimation of ornithopter,the prototype design,aerodynamic parameter measurement and mathematical modeling of falcon-like ornithopter are carried out.The trajectory generation method based on flight dynamic characteristics and trajectory tracking control considering disturbance compensation are studied,and an experimental test platform is built to verify the effectiveness and practicability of the control algorithm proposed in this paper.The main contents and achievements include the following aspects:(1)According to the characteristics of biological structure,a highly biomimetic falcon-like ornithopter with folding wing is developed,which has good aerodynamic characteristics and flight performance.Combined with the wind tunnel test platform,the aerodynamic characteristics of the BFWR under different conditions are quantitatively analyzed to solve the problem of prototype parameter measurement.(2)Based on Newton-Euler equation,the dynamic model of BFWR system is established,the generation mechanism of power and torque of falcon-like onithopter is revealed,and the flight motion law is analyzed in principle.(3)With the self-built prototype platform,the three-dimensional trajectory generation method for BFWR and the high-precision trajectory tracking control method based on extended state observer are proposed.The secondary development is carried out based on pixracer R15 hardware platform to realize the autonomous flight function.The BFWR prototype constructed in this paper provides an experimental platform for theoretical verification.The proposed modeling and control of BFWR provides a feasible solution for realizing autonomous flight.The above research results provide reference ideas for other researchers in this field.