The Method Of The Flight Control Of Large Bionic Flapping Wing Air Craft

With the development of science and technology,human beings enjoy the convenience but they feel threatened too,such as the Fukushima nuclear power plant leaks,Wenchuan earthquake,disaster.Because the disaster is complex and dangerous,carrying out disaster relief work will face great difficulties.In view of the current unfavorable situation,an aircraft is necessary to ensure aerial reconnaissance and destabilize autonomous flights to measure environmental parameters and pollution conditions in a complex airflow environment,so flight control is the key to ensure its mission.Based on the structure and flight characteristics of large bionic flapping wing aircraft,this paper designs a set of control algorithm to realize autonomous tracking flight,and makes validation through simulations and experiments.Aiming at the large size and complex structure of large Bionic Flapping Wing Aircraft,dynamic modeling and simulation analysis are carried out.Based on the kinematic analysis of flapping wing mechanism,the motion parameters of a wing in flutter period are obtained and verified by ADAMS.Based on the wing shape and flapping characteristics of the large bionic flapping wing aircraft,the aerodynamic equation in a flutter cycle is deduced by using the strip theory,and simulation analysis is carried out through MATLAB.At the same time,according to the force of the tail fin,the aerodynamic force moment of the tail fin against the center of the airframe is analyzed.factors that affect flight performances are obtained,and this provides a theoretical basis for the research of navigation s and control methods.In order to realize the autonomous tracking,the paper developes the multisensors data fusion and navigation algorithm.The former uses complementary filtering method to accomplish the mul-tisensors data fusion and the attitude of FMAV solution,the latter combines GPS and INS data to accomplish the flapping wing aircraft navigation through the Calman filter algorithm.The control of pitching angle,yaw angle and flight height of flapping wing aircraft is implemented by using classical PID control algorithm.In addition,the method of turning flight is designed.Then the proposed algorithms are simulated and experimentally studied including integrated navigation simulations and tail adjustment experiments.Finally the research work is verified by simulation and experimental results in this paper.