Study On Attitude Control System Of Flapping-wing Micro Air Vehicles

Flapping flight is a common flight mode among nature creatures,and flappingwing micro air vehicle(FMAV)is a new kind of aircraft generated by flapping.FMAV can generate lift and thrust through upstroke and downstroke for flight.There are many advantages of FMAV,such as small size,light weight,good concealment and flexibility.Besides,FMAV possesses great superiority to other aircraft at low Reynolds numbers and wider application in martial and civil fields.However,two issues existing at present are how to design the flight control system and how to control the attitude of FMAV.In this paper,a dynamic model is established and its attitude control method is researched based on the FMAV model.Finally,a physical prototype is designed and manufactured for experiments.The flying status is controlled based on the flying dynamics model of FMAV.The flapping mechanism of a FMAV is analyzed.According to the Blade Element Theory,the aerodynamic model of the wing is established,in which the flexibility of the wing is taken into account.The aerodynamic force of the tail is calculated with Zhukovsky Theory,and the torque of the FMAV is analyzed as well.In addition,The dynamics and kinematics equations of the aircraft are obtained by using the Newton's law combined with the space coordinate which describes the position of the aircraft.Based on the established dynamic model,the attitude control of FMAV is studied.The motion equations of FMAV are divided into two categories,which include vertical motion and lateral motion.According to the small perturbation theory,the vertical and lateral equations of motion are linearized.Furthermore,we presented an approach for the attitude control system of the FMAV and designed the control laws of pitch attitude and roll attitude respectively which are verified by simulation.According to the light weight of FMAV,a controller is designed.We have created an entire hardware circuit of the controller.Based on the complementary filter algorithm,a solver used to realize attitude estimation is designed.The control signal from remote controller is received by the wireless module to control the FMAV.Finally,a physical prototype consistent with the aforementioned model is designed and manufactured,and the driving mechanism of FMAV is optimized to improve its flight performance.The force test of the prototype is carried out to verify the aerodynamic model.The experiment which is equipped with controller is tested in the project,and the result shows great stability.