The Research On Design And Flight Control System Of Winged-wing Flapping-wing Aerial Vehicle

The flapping-wing aerial vehicle are very suitable for military reconnaissance environment detection,anti-terrorism explosion and other military and civilian fields because of its high flight efficiency,light weight,strong anti-jamming capability and bionic concealment.Miniature flapping-wing aerial vehicle that mimic insects or small birds have low flight time and load capacity;there are few flapping-wing aerial vehicle mimicking large and medium-sized birds,and relevant research results also have low actual flight efficiency and insufficient autonomous flight performance.In order to solve the above problems,this paper fully considered the aerodynamic characteristics of large and medium-sized birds,designed a flapping-wing flying robot with wings,developed a prototype and built a performance test platform,and conducted experimental research.Based on the analysis of the aerodynamic characteristics and application scenarios of flapping wings,the structure and mechanism scheme of winged-wing flapping wing aerial vehicle are proposed to improve aerodynamic characteristics.The flight mechanism of bird and the existing flapping wing research results were thoroughly investigated.The demand analysis of the flapping wing aerial vehicle was carried out.A system framework for the flapping wing aerial vehicle was designed,and its transmission mechanism and wing airfoil type were designed.Carry out detailed design.The transmission mechanism is used to connect the brushless DC motor and the wings.Based on the design of several transmission mechanisms and the comparison of experiments,the two-stage gear transmission scheme with the best performance was finally determined;in the aspect of airfoil,the airfoil was analyzed and compared.After raising the drag characteristics,two kinds of airfoils were identified,wings of the flapping wing aerial vehicle were designed using profili software,and EPP was used for injection molding.Experiments showed that the wings can generate greater lift and processing convenience;the tail of the body is poor The dynamic mechanism achieves the balance and steering of the body.Based on the structure and mechanism characteristics of the designed flapping-wing aerial vehicle,the kinematics model of the flapping-wing aerial vehicle was established and an autonomous flight controller was developed.The information fusion of multiple sensors and the real-time estimation of the flight attitude were realized.Complementary filtering and extended Kalman filtering algorithms are used to solve the attitude data,and an accurate real-time flying attitude angle is obtained.The development of the airborne flight controller is based on the open-source flight control hardware Pixhawk Mini.The software design uses PX4 firmware as the overall framework.The attitude is solved in real time and the cascade PID method is used to control the aircraft.A prototype of a flapping-wing aerial vehicle was developed and an indoor force-measuring platform was built.Aerodynamic characteristics testing and outdoor flying experiments were completed.The experimental results show the feasibility of this design.