Research On Active Control Of A Nonuniform Rigid-flexible Wing

With the continuous progress and development of science and technology,highperformance flapping wing aircraft with nonuniform rigid-flexible wings are widely used in industries,agriculture,and military.In practical engineering,the flapping wing system of aircraft is usually composed of a rigid rod connected to the body and a flexible wing with a nonuniform cross-section.Flapping wings are key components of aircraft,and their stability determines the performance and stability of the aircraft.In order to complete operational tasks,aircraft often require rapid attitude maneuvering.However,external interference and attitude maneuvers can cause flexible wing vibrations,which are not ideal and can lead to aircraft instability.Therefore,this paper studies the vibration suppression and attitude control of nonuniform rigid-flexible wings.This article focuses on the study of nonuniform rigid-flexible wing systems,focusing on dynamic modeling,vibration suppression,attitude tracking,input nonlinearity,and interference suppression.The specific content is as follows:Firstly,using Hamilton’s principle,the nonuniform rigid-flexible wing is modeled as a distributed parameter system,and its control equations and boundary conditions are expressed by a set of partial differential equations coupled with ordinary differential equation; Using the Lyapunov direct method,design a boundary control scheme to suppress the vibration of flapping wings and simultaneously adjust the attitude angle to the desired position; Subsequently,for the input backlash problem,the nonlinear backlash and boundary interference are combined and defined as a new ”class disturbance term”,which is combined with a symbol function and disturbance observer to counteract the impact of the ”class disturbance term” on the system; To address the problem of input saturation,an auxiliary system is introduced to compensate for the saturation error of the system; Aiming at the problem of interference suppression,an extended state observer is designed to estimate the external interference online by using auto disturbance rejection control technology; Finally,numerical simulation experiments were conducted to verify the effectiveness of the control scheme.