Design And Tracking Control Of A Bionic Flapping-Wing Micro Aerial Vehicle

With the advent of artificial intelligence era,Flapping-Wing Micro Aerial Vehicle(FWMAV),also known as Flapping-Wing micro aircraft,has attracted the attention of many researchers at home and abroad.Compared with the traditional fixed-wing aircraft and rotary-wing aircraft,FWMAV has many characteristics,such as light weight,small size,high concealment aircraft,strong maneuverability and so on.Therefore,they are expected to be widely used in the future civil or military fields.However,the research on FWMAV is still in its infancy,and many theories are not yet fully mature,so both the mechanical structure manufacturing and the control algorithm research have become the hot issues in the field of FWMAV research at this stage.The main work of this thesis is to design and manufacture an autonomous flapping wing micro aerial vehicle and control it to track the target trajectory.The relevant research contents are as follows:Firstly,start with the design and manufacture of a bionic flapping-wing micro aerial vehicle.After calculating the size parameters of the FWMAV according to the scale law,the whole mechanical structure can be designed subsequently.The wing and tail are produced based on the 3D model drawn by Solid Works.The main control chip here is STM32F103C8T6,cooperates with the components which of light weight as their first condition.And then,it comes to the design and manufacture of PCB of the main control board on the micro ornithopter.The physical model of FWMAV is built by synthesizing the above steps.Next,the dynamic model of FWMAV is established.The flapping force and aerodynamics of FWMAV are analyzed based on the blade element theory and quasisteady aerodynamics theory along with the tail flow characteristics,which generates a dynamic model,the flight performance is analyzed by the simulating model.The Lagrangian single-rigid-body dynamic equations of FWMAV are established by combining the above models.Then,the corresponding control schemes for FWMAV are established.On the basis of PID controller,the position control loop is further improved,and a cascade PID position controller is adopted to track multiple groups of position signals.The result of simulation experiment shows that the cascade PID position controller is more accurate than the PID position controller when the desired trajectory changes significantly.For the interference of internal uncertainties of the system and external environmental disturbances,the ADRC attitude controller can be used to estimate the disturbances and perform signal compensation to the system.The ADRC attitude controller has stronger anti-interference performance than the PID attitude controller when simulating the attitude tracking performance of the micro-orthopter.Finally,a positioning system experimental platform is built for physical experiments.Indoors,the Opti Track motion capture system can be used to track the attitude and position information of the micro flapping wing aircraft in real time.Based on the information exchange and transmission among the robot operating system ROS,serial communication and network storage function NRF,the tracking performance of the FWMAV is tested to verify the reliability of the mechanical structure and the feasibility of the control scheme.