Research On The Controller Design Of A Bird-Like Flapping Wing Flying Robot

The flapping wing aircraft has the characteristics of low noise,good bionic concealment and high maneuverability.Compared with traditional fixed-wing and rotary-wing UAVs,this type of robot has important practical application requirements in both civilian and military applications.This paper mainly focuses on a small bird-like flapping-wing flying robot,and carries out research and experimental work on the accuracy analysis of flapping-wing aerodynamic modeling based on pseudo-steady-state aerodynamics and the onboard embedded controller.In order to design the controller of the bird-like flapping-wing flying robot and analyze the kinematic stability of the system,this paper firstly tests and studies the aerodynamic modeling accuracy of the small low-speed double-plate flapping-wing aircraft.It is found that the traditional modeling method using isotropic aerodynamic coefficient is not accurate enough,and it is difficult to be used for the quantitative prediction of aerodynamic force of the bird-like flapping wing flying robot.Based on the static flapping wing aerodynamic test results of a small bird-like flapping wing flying robot,the aerodynamic coefficients in the traditional analytical calculation model were corrected.The modified aerodynamic coefficients take into account the chord stiffness of the elastic flat wing and exhibit anisotropic characteristics.The accuracy and effectiveness of the modified flapping wing aerodynamic modeling method are verified by the dynamic flight test of the experimental prototype.The work and results are of reference value for the optimal design of the bird-like flapping-wing aircraft and the acceleration of the improvement of the experimental prototype.Further,this paper designs and researches the flight control system of a small bird-like flapping wing flying robot.For the flapping-wing flying robot system imitating ordinary birds,it needs to slide forward to generate sufficient aerodynamic lift,and the global position stabilization control cannot be achieved.For such systems,pure attitude control is considered in this paper.By analyzing and simulating the attitude control of the robot,it is shown that the cascaded PD feedback control can guarantee the attitude stability of the robot.In order to maximize the payload capacity and endurance of the robot,a small and lightweight flight control board and its supporting ground measurement and control device are developed in this paper.Based on the sensor calculation algorithm,the robot prototype’s flight attitude and flight height position feedback are realized,and it is verified that the robot can realize the attitude stability control in the neighborhood of the attitude balance point.In order to further improve the flight control stability and flight energy efficiency of the flapping-wing aircraft,this paper studies the optimization problem of the attitude controllability of the small bird-like flapping-wing flying robot.Through the research,it is found that the attitude dynamics of the bird-like flapping wing aircraft has a certain structural symmetry,and the Coriolis force term in the dynamic model is relatively small,so that the attitude dynamics can be effectively transformed into a type of control with uncertain parameters The canonical form satisfies the structural conditions for designing a class of adaptive controllers.Theoretical analysis and simulation results show that the global asymptotic stability of the attitude control of the bird-like flapping-wing aircraft can be achieved based on adaptive control,which provides an effective technical approach for predicting the response and energy consumption of the closed-loop system,and also provides a basis for evaluating the attitude controllability of the aircraft prototype.The prototype experiments show that,for the highly integrated design of the experimental prototype,optimizing the distribution of the aerodynamic center of the wing can significantly improve the motion flexibility of the small bird-like flapping wing flying robot.At the end of this dissertation,the research work of the full text is summarized,and further research work that can be carried out in the future is discussed,such as increasing the number of closed-loop control channels of the aircraft,enhancing the flexibility of the aircraft,reducing flight energy consumption,and improving load capacity.