Control System Design And Research Of Servo-Driven Bionic Flapping-Wing Aerial Robots

Imitating the flight modes of natural flying creatures,bionic flapping-wing aerial robots(FWARs)have the potential advantages of low noise,low energy consumption,good concealment,and strong agility,and have broad application prospects in the fields of covert reconnaissance,environmental monitoring,scientific education and entertainment,etc.Aiming at the problems of low bionic degree,low flapping efficiency,poor maneuverability,weak autonomous ability,and indistinct flight mechanism of existing FWARs,this paper conducts research on the system design and optimization,autonomous flight control,and flight mechanism analysis of the bionic FWARs.The main contents are listed as follows:Firstly,to solve the problem of poor maneuverability and flight efficiency of the existing bird-like FWARs,a new system design and control scheme of a servodriven bird-like FWAR is proposed.The flapping amplitude,frequency and phase of the left and right wings are controlled directly by two independent servos,and then the decoupling control of the FWAR is achieved about all three body axes without a controllable tail.Furthermore,agile control of some aerobatic maneuvers such as dive,glide,and aerial tumble recovery has been implemented,and the flapping gait has been finally optimized to improve the flight efficiency.Secondly,for the practical application of bird-like FWARs in regional cruise and monitoring task,research on its autonomous cruise control system is carried out.First,to get rid of the dilemma that traditional bird-like FWARs can only take off by hand throwing,a coordinated launching platform has been developed and enables the FWAR to take off autonomously.Then,an outdoor autonomous cruise flight has been realized by combining the proposed vector field guidance method with the double closed-loop PD control algorithm.Finally,a lightweight twodegree-of-freedom servo-driven gimbal has been developed to solve the problem of aerial video jitter in the monitoring mission.Thirdly,for the practical application of bird-like FWARs in the concealed airdrop mission,research on its autonomous airdrop control system is accomplished.In view of the demand for gliding ability of the airdrop mission,a camber structure and a dihedral angle adjustment mechanism are introduced into the airfoil design and motion control of the wings,which has been proved an effective way to improve the gliding performance of the FWAR.A delivery device and a vision-based airdrop controller have been designed and verified by simulation and experiment.Fourthly,to address the problems of poor controllability,low bionic degree,and indistinct flight mechanism of the existing butterfly-like FWARs,a system design and mechanism analysis scheme of a bionic butterfly-like FWAR is proposed.First,two servos are introduced to independently drive the left and right wings such that the tailless control of the butterfly-like FWAR is realized.Next,a bionic airfoil is designed,and the wing geometry study indicates that it well matches the wing morphological characteristics of biological butterflies.Finally,using a multicamera motion capture system,a coupled wingbody interaction similar to biological butterflies is found.in the climbing flight of the butterfly-like FWAR,which suggests that the undulating flight trajectories of biological butterflies are likely to be passively caused by the flapping motion of the wings,rather than actively controlled.