Research On Dynamics And Control Of Flapping-wing Micro Flying Robot

After a long period of evolution,flapping wing flight has become a mature and superior flying method.Birds and insects in nature choose flapping wings unanimously,which illustrates its superiority.Based on its advantages of hovering and low-speed flight,flapping-wing flight can be applied to work in complex and changeable environments.Although the current flapping-wing flying robot has obtained phased research results,in practical engineering applications,flapping-wing flying faces many challenges.For example,how to obtain high lift under low Reynolds number,establish accurate dynamics model,improve flight efficiency,practical application of control methods,and so on.Based on this,this paper takes four flapping-wing micro flying robots as the research object,with the goal of obtaining high lift and realizing attitude control in actual engineering,and conducts research from two aspects of its dynamic modeling analysis and attitude control.From the perspective of bionics,this article summarizes the principles of aerodynamic force acquisition in flapping-wing flight.According to the structural characteristics of the four flapping-wing micro flying robot,its mechanism is divided into a driving mechanism and a flapping mechanism.The rationality of the selected driving parameters was verified by importing the design model into ADAMS.Through the geometric analysis of the driving mechanism,the kinematic relationship between the output flapping angle and the input crank angle is determined.Then,according to the characteristics of the flapping mechanism,on the basis of the pseudo-steady-state three-dimensional leaf element method,the dihedral angle was introduced to establish the aerodynamic model of the four flapping-wing micro flying robot.Taking the average lift as the objective function,the parameters of the driving mechanism and the dihedral angle parameters of the flapping mechanism are analyzed,which provides a theoretical basis for the dynamic optimization design of the four flapping-wing micro flying robot.In order to achieve the lift and thrust test of the four flapping-wing micro flying robot and provide experimental verification for dynamic analysis,a pneumatic force measurement platform was built.First,a cantilever beam is used as a unit to design the main body of a double L-shaped adsorbable small three-dimensional force sensor.The principle is verified by the finite element simulation analysis of the load cell:elastic body deformation ? strain gauge resistance change ? electrical signal ?force is feasible Sex.The results of static calibration experiments show that the designed three-dimensional force sensor has good performance indicators.The good dynamic demonstration of the aerodynamic force measurement system provides a research foundation for the subsequent dynamic experiments of the four flapping-wing micro flying robot.In the control research of four flapping-wing micro flying robots.Firstly,the analysis of the overall dynamic properties provides a theoretical basis for the design of nonlinear controllers.Aiming at the attitude control problem of four flapping-wing micro flying robots in practical applications,a sliding mode robust adaptive attitude controller is designed based on RBF neural network.First,the RBF neural network is used to approximate the unknown angular velocity in the attitude dynamics model of the flapping-wing micro flying robot,and an adaptive law is designed to reduce the neural network approximation error.Secondly,improving the robust term eliminates control input chattering caused by interference.Finally,Lyapunov stability theory is used to analyze the stability of the system.The simulation results show that the designed attitude controller has good robustness and adaptability.