Control Technique Of FMAV With Straight And Collapsible Wings

Flapping-Wing Micro Air Vehicle (FMAV) is a type of the micro flying robot which imitates the flight mode of birds or insects based on bionic principle. Compared with fixed-wing vehicles and rotorcrafts, its main characteristic is that it can make the functions of lift, hover and drag together. It has small size, light weight, great maneuverability and flexibility. Both in civil and military applications, it has been quite active researching area. The rescearch of FMAV attracts more and more people’s attention. This paper mainly researches the contol technique of FMAV with straight and collapsible wings based on the previous research.A set of coordinate systems for FMAV are established. The transformation matrixes between the transformations of coordinates are derived. This paper analyzes and calculates the aerodynamic forces and aerodynamic moments for FMAV with straight and collapsible wings. Further analyzed is the influence of parameters of movement on the aerodynamic forces and moments.The attitude kinematics equation and the dynamics equations show how the aerodynamic forces and aerodynamic moments influence the position and attitude of FMAV.To control the FMAV’s flying altitude, incremental PID controller and fuzzy PID controller are designed. With the simulation of MATLAB/Simulink, the contol methods are proved to be feasible.The control system of FMAV for jump and takeoff is designed. The core of the control system is MC9S08QD4. The control system’is used to control the jump of the jumping machine and the flap of wings. Experimental prototype is made. The experimental result has confirmed that the vehicle can take off independently in the same place. The control system for flight is also designed. The core of the control system is STM32. The control system uses the sensors to gather the information of fight state, and uses Kalman filtering to deal with the data of attitude angles. Circuit boards are produced. Programs are written and debugged.