Development Of An Insect-like Flapping Wing Micro Air Vehicle Based On PD Control

The insect-like flapping wing micro air vehicle(FW-MAV)mainly simulates the flexible flight modes of the insect such as hovering,vertical take-off and side flying,so it can adapt to complex and multi-barrier environments and has broad application prospects.Till now,there are still many problems in this field,such as the attitude control.In this paper,based on the analysis of the flight characteristics of the insect,an attitude adjustment mechanism based on wing twist was proposed,a control system based on PD control law was designed,and finally an insect-like FW-MAV was developed successfully.Then,through the attitude adjustment platform experiments and vehicle flight experiments,the vehicle achieved stable vertical take-off.Based on the characteristics of insect flight,the mechanism combining the crank rocker and pulley was selected as the schematic of flapping mechanism to solve the problems of high friction and complicated structure of the existing other mechanisms.The results of motion simulation of MATLAB and Solid Works showed that it can produce the expected flapping amplitude,and the solution was feasible.According to the Scale Law,the flight parameters were estimated,and the design of the flapping mechanism,the deceleration system and the wing was also developed based on it.Such as,the negative twist flexible wing with high flapping efficiency was selected as the prototype wing.Considering that some attitude adjustment mechanisms existing the problem of increasing the complexity of the whole structure,an attitude adjustment mechanism based on wing twist was proposed and related mechanisms were designed.Finally,a FW-MAV with a wingspan of 18 cm,a weight of 17 g and a flapping amplitude of 180 degrees was developed successfully.The feasibility of the attitude adjustment mechanism was verified by measuring the attitude torque of the vehicle.The measurement results of the aerodynamic lift of the prototype with the flapping frequency showed that the wings could provide sufficient lift.In order to ensure that the vehicle could obtain sufficient lift under attitude adjustment,the lift corresponding to each attitude angle under different flapping frequencies was measured,and the results showed that the wing can still meet the requirements.The PD control law was selected as the control mode,and the vehicle carrying the control system weighed 23.8 g.The attitude display software was developed,the data filtering algorithm was selected,and the data transmission protocol was defined.In order to solve the problem of time consumption of parameter adjustment and theproblem of difficultly observing the control effect of directly flying the vehicle,this process was performed in two steps.The initial control parameters were obtained based on the attitude adjustment platform,then several direct flying tests were carried out and the parameters were also adjusted for several times.Finally,the stable vertical takeoff of the vehicle was realized.The development of this insect-like FW-MAV based on PD control has a good reference role for the control flight of this type of aircraft.