Design And Experimental Study Of Hover Multi-Wing Flapping Wing Prototype

Flapping-wing aircraft is a product of bionics.It can fly in the air by imitating the physiological structure and flight mechanism of flying organisms such as birds or insects in nature.Compared with traditional fixed-wing and rotorcraft aircraft,flapping-wing aircraft is easy to miniaturize,has high energy utilization rate,strong concealment,and has high maneuverability and flexibility.It can realize complex flight actions such as vertical take-off and landing,fast forward flight and hovering,and has a wide application prospect in military and civil fields.At present,the hovering flapping wing micro air vehicle has the problems of poor controllability,short hovering time and large range.This paper starts with the prototype of flapping wing aricraft,and carries out kinematics and numerical simulation analysis of the prototype.According to the simulation results,a control scheme for hovering flight is proposed,and an airborne controller is developed,which is validated by relevant experimental research.In order to meet the hovering requirement of flapping-wing micro-aircraft,a prototype of flapping-wing micro-aircraft is developed as an experimental platform for subsequent research.According to the relationship between the flight parameters of birds and their own quality,the flight parameters of the prototype of the miniature flapping wing aircraft are determined and adjusted according to the actual situation.The flapping mechanism is designed to realize periodic up and down flapping,the wing wing material and wing shape are selected,the structure of the tail is determined,and matches the existing electronic equipment to realize the preliminary controllable flight of the prototype.A dynamic model of flapping wing prototype is established.Kinematic simulation of the prototype flutter mechanism is carried out and the motion law of the flutter mechanism of the prototype is obtained.The numerical simulation of the prototype is carried out by using computational fluid dynamics(CFD),and the aerodynamic characteristics of the prototype under different flutter frequencies and different flutter inclination angles are analyzed.The torque model of the tail rotor of the prototype is established.Based on the analysis results,the control scheme of the prototype hovering flight is designed to control the attitude and height of the flapping-wing micro-aircraft.An airborne controller is designed and developed to collect and output attitude and altitude information of flapping-wing micro-aircraft during flight.The hardware platform of the controller adopts STM32 processor,and carries a 10-axis sensor module composed of MPU6050,magnetometer,barometer and other sensors.The complementary filtering algorithm is used to fuse the measured data of different sensors to calculate the current attitude and altitude information of flapping-wing micro-aircraft.And receiving a control signal from the remote controller through the wireless communication module to control the flight state of the miniature flapping wing aircraft.Finally,the aerodynamic and aerodynamic moments of the prototype at different frequencies and elevation angles are measured,and the simulation results are compared to verify the feasibility of the hovering flight control scheme.The prototype is equipped with an airborne controller for attitude detection experiments to verify the effectiveness of the airborne controller.The prototype is equipped with a miniature linear actuator for flight test,and the pitch adjustment of the prototype is realized.