Design And Implementation Of Semi-autonomous Navigation System For Flapping Wing Aircraft

The flapping wing is a robot that can imitate bird flight.It has the characteristics of large size,light weight,low power consumption,high flight efficiency and strong anti-interference.It also has good flexibility and flight maneuverability in the military.The fields,civil fields and other scientific and technological fields have broad prospects for development.Therefore,it is of great significance to study the flight design and related theories of flapping-wing aircraft.Based on this,based on the completed flapping wing aircraft,this paper carries out the corresponding navigation control experiment research,designs a set of semi-autonomous tracking flight control algorithm,develops the embedded flight controller of the flapping wing aircraft,and carries out Corresponding simulations and experiments.And this leads to the following main conclusions:(1)In order to achieve the goal of the semi-autonomous control function of the flapping wing aircraft,the establishment of the coordinate system of the flapping wing aircraft was first carried out,then the aerodynamic analysis and force analysis of the wing and tail were carried out,and the dynamic model and kinematics equation were obtained.The flight law is obtained through Matlab simulation analysis,which lays a theoretical foundation for the subsequent control.(2)The semi-autonomous navigation control algorithm is designed based on PID control.It is divided into direct flight height control law and coordinated corner control law.,the course control law and the semi-autonomous tracking flight control law,and the Matlab-Simulink simulation experiment is carried out to verify the rationality and accuracy of the control algorithm.(3)In order to realize the semi-autonomous tracking flight of the flapping wing aircraft,firstly build the STM32 embedded controller hardware platform of the flapping wing aircraft,design the overall framework based on functional analysis,and develop the communication method,select the microcontroller and sensor of the hardware platform.The microcontroller selects the STM32F103RCT6.The peripheral sensors include a 10-axis sensor and a GPS plus Beidou dual-mode positioning module.The 10-axis sensor is highly integrated with accelerometers,gyroscopes,magnetometers and barometers.It can collect three-axis Euler.The angle includes a pitch angle,a yaw angle,a roll angle and a height.The GPS positioning module can collect position information such as latitude and longitude.The drive module includes a motor driver,a brushless motor and a steering gear.The power supply module includes a single chip power supply battery and a motor power supply battery(4)The embedded software design,designed the program flow chart,hardware and peripheral initialization,sensor data acquisition and data processing,PID control solution and update PWM duty cycle control.Finally,the design of the prototype integration and controller coordinates and the installation method were designed.The test data of the sensor was tested and the outdoor flight test was carried out.The direct flight,the turn and the final tracking flight were improved and optimized.Semi-autonomous fixed-point tracking navigation flight.