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

The bionic flying micro-robot is not only a complicated intelligent robot with new locomotion method, but also the micro aerial vehicle with new concept. Bionic flying micro-robots would have extensive application in military and civilian. Being a part of"Bionic flying robot and its key technologies"research, flying mechanism and control- system of the bionic wing are studied in this thesis. The main content and contribution of this thesis are summarized as follows.This thesis comments on the late biologic flying theory after introducing them and thinks not of all the theory of"clap and fling"mechanism ,"rotational circulation"mechanism ,"delayed stall"mechanism and"wake capture"mechanism right ,they all have itself shortcoming ,then the"moving board"mechanism is brought in the thesis.Analyzing kinematics of moving board in the basis of conservation of mass and quantity of motion ,the thesis particular recommends analysis under forced moving board and proof that different outline moving object has different coefficient of resistance ,come to a conclusion which makes the different angle moving object having different coefficient of resistance ,it again proves airplane has best flight angle , The flight mechanism that gains lift force under lower Reynolds number by three flying ways including fixed-wing, rotating-wing and flapping-wing is analyzed. The thesis first give the calculating law of drag force and lift force that on birds'flapping wings among flight.The thesis brings forth the structures of insect's wings and backside muscle , under microscope ,and think that insect's wing has correspond flexure character , different degree of roughness on different side , producing bow wave on wing foreside easily .so insect's wing could gain more high lift-drag ratio among flight .The thesis analysis the forces that on insect's flapping wings , achieving the conclusion that flexure wing has better lifting to hard model of wing .The thesis analyzing character of moving object's controlling, thinks that bionic wing flapping is rhythm moving , so controller could control it by center of gravity .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...