Research On Trajectory Control System For Flapping Wing Vehicle

In today's era of efficiency,flapping wing vehicle with its higher flight efficiency than traditional aircraft has become a hot research topic.Because flapping wing aircraft is a highly efficient way to fly using birds or flying insects in nature,it will have a great development prospect in both civil and military fields in the future,and will be the main development trend of aircraft in the future.In this paper,the mathematical model of flapping wing vehicle is studied,and a set of trajectory control system based on model reference adaptive algorithm is designed.The control system and experiment design are carried out,and the experiment attempt of flapping wing vehicle is realized.The specific research of this paper is as follows:First of all,in order to further popularize the application of flapping wing vehicle in various fields and industries,the trajectory control of flapping wing vehicle is proposed as the research content,research basis and significance of this subject,and several key technologies of flapping wing vehicle are described ask.Secondly,the mathematical model of flapping wing flight is studied deeply.Based on the three coordinate systems of flapping wing vehicle,the mechanical model and aerodynamic model of the aircraft are established,and the model is analyzed.Then the dynamic equation of the aircraft is derived,which lays the foundation for the design of the control system in this paper.Thirdly,after studying and analyzing the control system of the existing UAV,the control system of the flapping wing vehicle is designed,which is mainly composed of the heading controller of the model reference adaptive algorithm,the attitude controller of the traditional PID algorithm and the guidance law;and the control system of the flapping wing vehicle is simulated by the Simulink module of MATLAB software,including the trajectory Generation module,model reference adaptive controller module,aircraft body module and trajectory display module,and then the simulation results are analyzed in detail to verify the stability and rationality of the control system designed in this paper.Finally,through the surveying and mapping of flapping wing aircraft,the mechanical structure of flapping wing vehicle is modeled by Solid Works software,and the shortcomings are improved;stm32f407 is used as the main control chip,and the hardware part of the controller circuit is built by using Altium designer software;after the aircraft is assembled,the small track experiment and large track experiment platform are built The construction is ready to verify the feasibility of flapping wing aircraft.