Research On Modeling And Vibration Control Of Flapping-wing Aerial Robot

Flapping-wing flying robot combines bionics,aerodynamics analysis,mechanical manufacturing,energy and power design,communication,control and other interdisciplinary technologies,and has a broad development prospect in military,civil and other fields.This flying robot has the characteristic of light weight,high efficiency,high mobility and concealment,and has become the research hotspot of many countries and research institutions.The design and control of wings are the key to ensure the stability of the ornithopter system.In consideration of flexibility,operability and quality,flexible materials or rigidflexible combination materials are common in the flapping-wings studies,which make the system vulnerable to its own structural factors,external interference and nonlinear elements.In the flight experiment,prominent unconventional deformation caused by interference can affect the stability and control efficiency of the system seriously,reduce the service life of the system equipment,and increase the difficulty of controller design.It is a problem to be solved in the research of flapping-wing machine to restrain the unusual vibration in the system.How to establish a reasonable system model and restrain the unconventional vibration in the system is an urgent problem to be solved in the research of flapping-wing machine.The research results and development status of flapping-wing aircraft at home and abroad are summarized in this paper.And three types of wings of flapping-wing air vehicle system are modeled and the vibration control research on the unconventional vibration of the output state in the system is carried out.The main content of the task is indicated below:According to Hamilton's principle,the dynamics models of single flexible wing,double flexible wings and rigid-flexible hybrid wing with dead zone input under unknown boundary disturbance are established,and the system functions and boundary conditions expressed by partial differential equations and ordinary differential equations are obtained.Secondly,the Lyapunov's function composed of energy term,cross term and additional term is selected to deduce the vibration boundary controller.At the same time,the stability of the systems under the control law are proved theoretically.Moreover,the boundary controller proposed for the rigid-flexible hybrid wing system can achieve the purpose of angle tracking at the same time.The finite difference method is used to obtain the approximate solution of the system,and the numerical simulation is carried out in MATLAB software.In order to show the ability of the control law to restrain the distortion of the output state of the system under the boundary perturbation and to deal with the nonlinear input characteristics such as dead zone,We compare and discuss the three simulation results of the system state without control law system state,the system state after adding the boundary controller and the boundary controller with dead zone input.It is concluded that the addition of the controller can not only guarantee the stability of each system,but also quickly restrain the irregular deformation of each system and solve the problem of the angle tracking of the rigid-flexible hybrid system.Finally,compared with PD control and iterative learning control method,the advantages of the controller designed in this paper are highlighted.