Model Free Adaptive Flight Control Method For Flapping Wing Aerial Vehicle

Flapping wing aerial vehicle has a wide application prospect in military and civil fields because of its small size,strong maneuverability and flight flexibility.Flapping wing aerial vehicle is a six-degree-of-freedom nonlinear system.The wing flapping model of the system is complex,and the high lift mechanism is not perfect.Therefore,the data-driven flight control method of flapping wing aerial vehicle has important significance and practical application value.In this thesis,the model-free adaptive control(MFAC)method is first applied into the position and attitude control problem of flapping wing aerial vehicle,which is a typical flapping wing aerial vehicle with position and attitude information.The main work is as follows:Firstly,the coordinate system suitable for the study of flapping wing aerial vehicle is established,and the rotation matrix of each coordinate system is deduced.After explaining the high lift mechanism of flying creatures,the structure of flapping wing aerial vehicle is introduced,and the aerodynamic force and torque of flapping wing aerial vehicle are analyzed,the kinematics model of flapping wing aerial vehicle is established.By analyzing the force of the tail structure of flapping wing aerial vehicle,the aerodynamic force and aerodynamic moment formulas of the tail structure are obtained.Then,according to the basic principle of aircraft control system,the control system of flapping wing aerial vehicle is established.In order to solve the problem of the fast-time variation during the high frequency flapping process of flapping wing aerial vehicle,a model-free adaptive control algorithm(Accelerated Parameter Estimation MFAC,AF-MFAC)based on the pseudo-gradient fast estimation algorithm is proposed for the position and attitude control of flapping wing aerial vehicle.The validity and reliability of AF-MFAC algorithm are verified by simulation under two conditions of no disturbance and pulse disturbance respectively.Finally,to solve the problem of attitude angle control input saturation of flapping wing aerial vehicle,a MFAC control algorithm with input saturation compensation(SC-MFAC)is proposed for the pitch angle control of flapping wing aerial vehicle with tail.The anti-input saturation ability of SC-MFAC algorithm is verified by simulation under two conditions of no disturbance and pulse disturbance respectively.