Research On Dynamics Modeling And Control Algorithm Of Flapping Micro Aerial Vehicle

In recent years, a great deal of aviation field attention has been focused on flapping micro aerial vehicle (FMAV) with the rapid development of technology. Compared with fixed or rotor MAV, FMAV has evident advantages, so many countries invest a lot to the fundamental research fields of FMAV which make the developing strength of FMAV enhanced.Mainly referring to the study results in the aerodynamics of the FMAV from the University of California at Berkeley, This dissertation takes the size of 10～25mm (wingtip-to-wingtip) FMAV as research object, and takes the hovering flight control as research task. This dissertation mainly studies on the kinematics mode of flapping wings, the dynamics and kinematics mathematical modeling of FMAV body, linearization of the flapping parameters and the control algorithm of FMAV.As the kinematics mode of flapping wings is concerned, this dissertation presents a kind of kinematics mode of flapping wings, of which each wing has two-dimensional motion (stroke and rotation). When the wings move with this mode, the mathematical relationship between wings two-dimensional motion and aerodynamic force and torque is figured out, and then by modulating six parameters of the flapping movement, the aerodynamic force and torque of the FMAV could be adjusted to meet the need of flight control.In the research of dynamics and kinematics mathematical modeling of FMAV body and linearization of the flapping parameters, the dissertation presents a mathematical model of FMAV body based on this assumption that it is rigid. According to linearizing the aerodynamic force and torque model of FMAV basing on six flapping parameters, a linear decoupling aerodynamic force and torque model of FMAV is presents. Then the former theory is simulated and the results show that the discoupled flapping parameters are effective.In the research of hovering fight control of FMAV, it analyzes respectively the attitude control algorithm, the control of mass centroid, and hovering control, and then testifies them by simulation.Finally, it brings out a new control method for FMAV, discusses the future research emphases and summarizes the whole research work.