Research And Design Of The Control System Of Micro Flapping Wing Aircraft

In recent years,bionic drones have been widely used in battlefield reconnaissance and flight patrol.Inspired by the flight of birds and insects,researchers continue to conduct in-depth research on bionic robots.Bionic flapping wing aerocraft is a kind of miniature flapping wing aerocraft that mimics insects.It has the characteristics of high concealment,small size,simple structure and light weight.The dynamic modeling and control of traditional flapping wing aerocraft are relatively complex,and the design of control system is rarely studied.The following studies are conducted on the dynamic wing modeling,control methods and control system design of micro-flapping wing aerocraft:(1)Aiming at the problem of wing motion modeling of flapping aerocraft,this paper analyzes the lift mechanisms such as "Clap-fling" mechanism and "delayed stall" according to the bionic characteristics of insects,and obtains the relationship between the flapping frequency and lift of the wing.The attitude adjustment is realized by adjusting the flapping frequency and flapping angle of the left and right wings.Then,the mathematical model of the wing motion and the way to generate the attitude moment of the aircraft are obtained.(2)Aiming at the dynamic analysis of each part of flapping wing aerocraft and the modeling of airframe simulation,the wing dynamics and airframe longitudinal dynamics of flapping wing aerocraft are modeled,and the simulation experiments are carried out.The aerocraft system consists of airframe dynamics,flapping mechanism and pitching actuator.Airframe dynamics modeling is to get the longitudinal rigid body dynamics model by analyzing the motion force of flapping wing rigid body model.In Matlab / Simulink,the controller model and the body simulator model are created.Theexperimental results show that the longitudinal dynamic model is effective.It can correctly capture the change of attitude angle and track it.PD control method is used in step input experiment of 15?,30?,45?and 60?,the overshoot is smaller than 15.13%,and the adjustment time is less than 15.13%,which shows that the effectiveness of the body model meet the experimental expectations.(3)Aiming at the problem of control method and controller design of the system,as well as the problem of weak steady-state error regulation ability in chapter 3,discrete PID control and active disturbance rejection control methods are used to build the controller model.Simulink was used to model and conduct comparative experiments.The experimental results show that the discrete controller has a good control effect in small angle attitude response control.The control ability decreases with the increase of expected value.Under the same setting conditions,the steady-state error of ADRC is significantly improved,which is about 8.3% and 5% higher than PD and PID control.(4)Aiming at the design and implementation of aerocraft system,the hardware structure and controller design of flapping wing aerocraft are carried out,and then the system composition,controller software and hardware design,structure design and system test are verified and achieved good results.In this paper,the control system of flapping wing aerocraft is studied deeply.The motion model,flight control method,controller design and structure design method of this kind of aerocraft are obtained,which provide an effective strategy for the research and design of this kind of aerocraft.