Research On Modeling And Control System Of Large And Mediumsized Bird-Like Flapping Wing Aircraft

The advantages of flexibility,bionicity and low power consumption of large and medium-sized bird-like flapping wing aircraft can expand its application scope in civil,military,scientific research and other fields.Therefore,the modeling and control system of flapping-wing aircraft is of great significance to its development.This paper is based on the laboratory-made large and medium-sized flapping-wing aircraft prototype to study and design the dynamics modeling and control system.The specific research content is as follows:Firstly,analyze the power transmission process of the large and medium-sized birdlike flapping-wing aircraft,and obtain the transmission law of the brushless motor through the gear reducer to the spatial crank rocker mechanism.Use ADAMS to establish a spatial crank-rocker mechanism model,and obtain the motion law between the crank and the rocker through simulation.Establish the flapping model of the flexible wing,analyze the change law of the flapping angle of the flexible wing,and obtain the flapping speed of the wing by deriving the flapping angle.On this basis,the dynamic equations of the wing and tail and the overall dynamic model are obtained according to the strip theory and lift calculation formula,which lay the foundation for the design of the controller.Secondly,the coordinate system of the flapping-wing aircraft is established,and the attitude calculation is performed.A fuzzy adaptive controller and a traditional PID controller are designed to establish a SIMULINK simulation model for the flapping-wing aircraft’s flapping frequency,flight height and attitude angle respectively.According to the comparison and verification of the simulation results,it is concluded that the fuzzy adaptive PID algorithm is more superior in the control of the flapping frequency,height and attitude angle of the flapping-wing aircraft.Finally,the host computer software is designed based on VB,the STM32F103 core board is used to build the airborne control unit,and the Zigbee wireless communication module realizes the communication between the host computer and the airborne unit.By designing the embedded program,reasonably arranging the integrated prototype of the airborne control unit,and optimizing the internal program and control parameters through the preliminary experiment of the experimental platform and the subsequent outdoor flight test,the take-off,circling,flapping-glide of the flapping-wing aircraft were successfully realized outdoor flight test of sport mode conversion.