Hoverable Multiple Flapping Wings Micro Air Vehicle Design And Test

In nature,there are species of flapping wing flying in the classes of insects,birds and mammals.The feasibility and superiority of flapping wing flying mode for micro air vehicles have been fully proved.Flapping wing air vehicles with hovering ability has a broad application prospect in military and civil fields.In this paper,the general layout of a hoverable flapping wing air vehicle with four power devices is designed.On this basis,the design of its control method is completed,and a method to control the yaw motion of flapping wing air vehicle by using the force along the direction of the angle bisector of flapping wing is proposed.According to the requirements of the structure design of the hoverable flapping wing air vehicle with four power devices,the structure is designed in detail,and a kind of high lift flapping mechanism is proposed,the whole wing can rotate around the axis of the swing pair at its root,and the angle of attack is changed during the flapping process to obtain the best lift performance.The ground prototype and flight prototype are developed and tested.With the full set of electronic equipment required for flight,the flight prototype has realized the vertical takeoff along the rail,and can generate yaw moment,pitching moment and rolling moment by controlling the rotational speed difference of the four motors.The test results show that the hoverable flapping wing air vehicle with the four power devices studied in this paper is highly feasible.