Research On Flight Control Method Of Bionic Micro-bicopter Based On Dynamic Model

Flapping is the most common way of flying in nature.Most insects and birds have superb flying skills.In recent years,this kind of bio-inspired bionic micro flapping aircraft has become a research hotspot at home and abroad.In this paper,a series of research work has been carried out with the self-developed bionic micro-biplane vehicle as the object,aiming at realizing its autonomous flight,including nonlinear dynamic modeling,wind tunnel force measurement experiment,trajectory tracking controller design,and control assignment.In this paper,a relatively clear research route of the flight control method of the bionic micro-bicopter is given.First of all,the force and motion state of the bionic micro-bicopter during flight are described by establishing the coordinate system of the body,the track and the wing.Finally,the six-degree-of-freedom nonlinear dynamics and kinematic equations of the aircraft are established through Newton’s Lagrangian equation.Secondly,according to the flight characteristics of the bionic miniature biplane,the wind tunnel experimental test platform is built,including the experimental wind tunnel,the selection of the force balance and the integration of other hardware systems.At the same time,an experimental method for testing the aerodynamic characteristics of the bionic micro-bicopter is designed,including the operation flow of the wind tunnel experiment and the processing method of the experimental data.Finally,the measured aerodynamic data are analyzed,and the aerodynamic characteristics of the flapping wing and T-tail are obtained.Thirdly,the trajectory tracking problem of the bionic micro-biplane vehicle in the presence of model uncertainty and external disturbance is studied,and an adaptive MPCbased trajectory tracking control method is proposed.According to the desired trajectory equation and the current state of the aircraft,a calculation method of the desired attitude is given,and two observers are introduced to estimate the model uncertainty and external disturbance simultaneously.Finally,simulation experiments are carried out according to the model parameters and aerodynamic constraints of the bionic micro-bicopter.The simulation results verify that the proposed adaptive MPC controller can complete the trajectory well in the presence of model uncertainty and external disturbances.Track tasks.Finally,the control assignment problem of the bionic micro-bicopter is studied,and the control assignment problem of the explicit aerodynamic model is solved by the incremental pseudo-inverse method.In addition,according to the aerodynamic data obtained from the wind tunnel experiment,the aerodynamic proxy model of the bionic micro-biplane vehicle was established through the RBF neural network,and the control assignment problem was transformed into a mixed constraint optimization problem,and an adaptive genetic algorithm was proposed to solve the optimization problem.Combined with the adaptive MPC trajectory tracking controller to build a comprehensive closedloop simulation system,the simulation experiments are carried out under the condition of adding model uncertainty and turbulent interference.The results show that the proposed control allocation method based on RBF neural network shows good trajectory tracking accuracy.,which verifies the effectiveness of the control allocation method.