CN107203220A - Flapping wing aircraft flight control method and system - Google Patents
Flapping wing aircraft flight control method and system Download PDFInfo
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- CN107203220A CN107203220A CN201710389397.1A CN201710389397A CN107203220A CN 107203220 A CN107203220 A CN 107203220A CN 201710389397 A CN201710389397 A CN 201710389397A CN 107203220 A CN107203220 A CN 107203220A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 11
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000009514 concussion Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 244000062804 prey Species 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002940 repellent Effects 0.000 description 1
- 239000005871 repellent Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
A kind of flapping wing aircraft flight control method, by the angle of fluttering for the flapping wing for detecting bionic Aircraft in real time, i.e. wing root connecting rod calculates on the relative angle of Fuselage Reference Plane and obtains wing tip torsion angle and pitching adjusting angle that birds flutter under angle in correspondence, and the adjustment of torsion and the pitch attitude of the wing tip of steering wheel progress bionic Aircraft is set with the wing tip torsion angle, realize the lifting of flight efficiency.The present invention can realize high stability and navigability；Compared to the flapping wing aircraft reversed without wing tip, lift and flight efficiency have obtained great lifting.
Description
Technical field
The present invention relates to a kind of technology in flying vehicles control field, specifically one kind be substantially improved flight stability,
Mix the flapping wing aircraft flight control method and system of control.
Background technology
In recent years, bionic flapping-wing flying vehicle starts to progress into the visual field of people.Bionic flapping-wing flying vehicle is due to its birds
Profile and offline mode, and its flight course in the almost generation without mechanicalness noise, with higher disguise, in army
There is advantageous advantage with investigation and strike aspect.At civilian aspect, the fixed wing aircraft for having had the bird of preys such as imitative hawk exists
Airport carries out bird repellent work.Bionic flapping-wing flying vehicle is not only the change of profile, due to bionical, the lift of its height, continuation of the journey and
Flight efficiency has great lifting compared to fixed wing aircraft.And the steerable free degree of conventional flapping wing aircraft is few, and do not have
There is gentle power coupling together, stability and navigability are very poor.
The content of the invention
The present invention can not carry out active control to the torsion of wing tip for prior art or yawing can not be led
Dynamic control balance can not carry out the defect of active control balance to pitching moment, propose a kind of flapping wing aircraft flight control
Method and system, utilize the mixing control of novel sensor and multiple control surfaces, it is possible to achieve high stability and can manipulate
Property；Compared to the flapping wing aircraft reversed without wing tip, lift and flight efficiency have obtained great lifting.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of flapping wing aircraft flight control method, by detecting that the flapping wing of bionic Aircraft is flutterred in real time
Dynamic angle, calculates and obtains wing tip torsion angle and pitching adjusting angle that birds flutter under angle in correspondence, and with the wing tip torsion angle
Set steering wheel to carry out the adjustment of torsion and the pitch attitude of the wing tip of bionic Aircraft, realize the lifting of flight efficiency.
Described bionic Aircraft includes：Imitative bird and imitative insect flapping wing aircraft.
Described angle of fluttering, i.e. relative angle of the wing root connecting rod on Fuselage Reference Plane.
Described real-time detection, is detected by a pair phase angle for the reduction gearing being connected with connecting rod, is passed using Hall
Sensor, at gear pivot, places one piece of cylinder-shaped magnet, and place Hall sensor perception phase in its leading portion
Angle.
Described wing tip torsion angle, is carried out arranged below according to the angle of fluttering of the flapping wing of real-time detection bionic Aircraft：
1. less than 60 ° when be set to：Torsionangle+89 °,
2. 60 ° to 120 ° when be set to：torsionangle+89°-torsionangle/30*(angleval-60)；
3. 120 ° to 240 ° when be set to：90°-torsionangle
4. 240 ° to 300 ° when be set to：90°-torsionangle+torsionangle/30*(angleval-240)；
5. 300 ° to 359 ° when be set to：torsionangle+89°
Wherein：Torsionangle is the maximum twist angle pre-set, and angleval is the angle of sensor senses.
Described steering wheel, includes but is not limited to the torsion steering wheel that is respectively arranged in the wing tip of both sides and is arranged at wing tip end
Pitch-control motor at the rib rotary shaft at end.
Described reverses the aerodynamic force that steering wheel adjusts both sides flapping wing by the torsion of wing tip, and based on the difference of both sides aerodynamic force
Value, produces a rolling moment, flapping wing aircraft is carried out rolling movement.
Because the lift of flapping wing aircraft is periodic, but also there is negative lift, this just allows flapping wing aircraft flutterring
In dynamic process, the concussion for coming back and bowing is had always.In order that flight is more stablized, flight control system utilizes angle sensor
While the angle control wing tip two that device is sensed reverses steering wheel, coupled using the angle with the Pitch signal of remote control
(it is assumed that the ratio is 1/4), is controlled to pitch-control motor, and nose-down pitching moment is periodically lifted during being fluttered with counteracting.
The present invention relates to a kind of system for realizing the above method, including：Be arranged at angle acquisition module in aircraft, it is distant
Control device signal receiving module, reverse computing module and performing module, wherein：Angle acquisition module is connected with reversing computing module
And transmission of angle information, torsion calculates module synthesis remote control module and the data of angle acquisition module are calculated, will
Angle on target is transferred to performing module.
Technique effect
Compared with prior art, the present invention in terms of pneumatic efficiency by using wing tip active twist, before making full use of
Edge whirlpool, so as to realize bigger lift and thrust.After active twist in terms of the energy consumption by using wing tip, what wing was fluttered
Torsional moment reduces, so as to reduce energy consumption.The smaller motor of moment of torsion is chosen simultaneously, smaller battery is chosen, so as to mitigate
Aircraft weight, then reduces energy consumption.The chain of command of rolling movement is done due to make use of wing tip to reverse and to periodicity pitching
Torque is constrained, and sufficiently effective chain of command, to being provided the foundation for closed-loop control, is the automatic flight of flapping wing aircraft
There is provided possible.
Brief description of the drawings
Fig. 1 is the active twist of wing tip when fluttering；
Fig. 2 controls for the mixing of rolling movement；
Fig. 3 is the mixing control for lifting nose-down pitching moment the suppression cycle；
Fig. 4 is present system structural representation.
Embodiment
As shown in figure 4, the flapping wing aircraft flight control system that the present embodiment is related to includes：It is arranged at the angle in aircraft
Spend acquisition module, remote controller signal receiving module, reverse computing module and performing module, wherein：Angle acquisition module is with turning round
Turn computing module to be connected and transmission of angle information, reverse the number for calculating module synthesis remote control module and angle acquisition module
According to being calculated, angle on target is transferred to performing module.
Described angle acquisition module uses but is not limited to the realization of Hall angular transducer.
Torsion computing module in the present embodiment, using Arduino chip microcontrollers, the input of its signal includes two kinds of shapes
Formula, one kind is analog signal, and one kind is data signal.The signal of angular transducer is exactly analog signal, is directly read, and by its
Signal 0-1023 scaled is to 0-359 °.And remote controller signal is then data signal, and it is PWM ripples, it is necessary to be connected on
Digital signal interface special Arduino, is then translated into numerical value again.
Fluttered according to birds and twist motion, draw the functional relation of flutter angle and windup-degree.Adjusted in actual assembled
During examination, the part of the adjustment to phase difference is also preset, the adjustment to machinery is reduced.
The control coupling of rudder face passes through the corresponding windup-degree of signal of angular transducer, and then plus remote controller signal,
The output angle of each steering wheel can be obtained.
In order to carry out flight debugging, it is necessary to which each variable is output into serial ports monitor, and need to make signal transacting week
Phase sets the delay for meeting current flapping-wing aircraft.
The present embodiment is related to the flapping wing aircraft flight control method of said system, specifically includes following steps：
1) acquisition angles, pretreatment are converted into angle of fluttering.
2) the corresponding wing tip torsion angle of the angle of fluttering, pitching adjusting angle are calculated.
Described wing tip torsion angle, is carried out arranged below according to the angle of fluttering of the flapping wing of real-time detection bionic Aircraft：
1. less than 60 ° when be set to：Torsionangle+89 °,
2. 60 ° to 120 ° when be set to：torsionangle+89°-torsionangle/30*(angleval-60)；
3. 120 ° to 240 ° when be set to：90°-torsionangle
4. 240 ° to 300 ° when be set to：90°-torsionangle+torsionangle/30*(angleval-240)；
5. 300 ° to 359 ° when be set to：torsionangle+89°；
Wherein：Torsionangle is the maximum twist angle pre-set, and angleval is the angle of sensor senses.
ServovalL=angleval+rollval, servovalR=angleval-rollval, wherein：
ServovalL and servoralR are signal of the output to steering wheel, and rollval is the angle signal that remote control is sent.
Described pitching adjusting angle, calculates especially by the following manner and obtains：Its
In：Coefficient n is to set citing in different values, the present embodiment to be set to n=4 for different aircraft.
3) performance objective angle.
Arduino flies control plate 1 and receives the angle signal of fluttering perceived from angular transducer 2, by torsional signals after processing
It is sent to wing tip and reverses steering wheel 5 and 6, the twist motion of wing tip is superimposed while can so being fluttered above and below flapping-wing aircraft, further
Strengthen its aerodynamic force benefit.To suppress periodic pitching concussion, the angle control that flight control system is sensed using angular transducer
While wing tip two processed reverses steering wheel, control is compensated to pitch-control motor.
Further, when manually performing remote control " aileron " rolling order, remote controller receiver 3 is received after the signal, will
Differential wave can be calculated by flying control plate, and be added in the left and right sides wing tip twist motion of setting originally, so accomplished
Initial setting is reversed and the mixing of artificial active rolling is controlled, and reaches required rolling maneuver.
On the other hand, when manually performing remote control pitching command, remote controller receiver 3 is received after the signal, it will by flying
Control plate calculates linkage signal, and is added in the left and right sides wing tip twist motion of setting originally, so accomplishes initially to set
The fixed mixing reversed with artificial active pitching is controlled, and reaches required pitching motion.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (7)
1. a kind of flapping wing aircraft flight control method, it is characterised in that by detecting that the flapping wing of bionic Aircraft is flutterred in real time
Dynamic angle, i.e. wing root connecting rod calculate on the relative angle of Fuselage Reference Plane and obtain the wing that birds flutter under angle in correspondence
Sharp torsion angle and pitching adjusting angle, and with the torsion of the wing tip of wing tip torsion angle setting steering wheel progress bionic Aircraft and bow
The adjustment of posture is faced upward, the lifting of flight efficiency is realized.
2. control method according to claim 1, it is characterized in that, described real-time detection passes through what is pair be connected with connecting rod
The phase angle of reduction gearing is detected, using Hall sensor, at gear pivot, places one piece of cylinder-shaped magnet,
And place Hall sensor perception phase angle in its leading portion.
3. control method according to claim 1 or 2, it is characterized in that, described wing tip torsion angle is imitative according to real-time detection
The angle of fluttering of the flapping wing of raw aircraft carries out arranged below：
1. less than 60 ° when be set to：torsionangle+89°；
2. 60 ° to 120 ° when be set to：torsionangle+89°-torsionangle/30*(angleval-60)；
3. 120 ° to 240 ° when be set to：90°-torsionangle；
4. 240 ° to 300 ° when be set to：90°-torsionangle+torsionangle/30*(angleval-240)；
5. 300 ° to 359 ° when be set to：torsionangle+89°；
Wherein：Torsionangle is the maximum twist angle pre-set, and angleval is the angle of sensor senses.
4. control method according to claim 1, it is characterized in that, described steering wheel, including it is respectively arranged at both sides wing tip
Interior torsion steering wheel and the pitch-control motor being arranged at the rib rotary shaft of wing tip end.
5. control method according to claim 1, it is characterized in that, the described steering wheel that reverses adjusts two by the torsion of wing tip
The aerodynamic force of side flapping wing, and based on the difference of both sides aerodynamic force, a rolling moment is produced, flapping wing aircraft is carried out rolling fortune
It is dynamic.
6. control method according to claim 1, it is characterized in that, control the wing in the angle sensed using angular transducer
While point two reverses steering wheel, coupled using the angle with the Pitch signal of remote control, pitch-control motor be controlled,
Nose-down pitching moment is periodically lifted during being fluttered with counteracting.
7. a kind of control system for realizing any of the above-described claim methods described, it is characterised in that including：It is arranged at aircraft
Interior angle acquisition module, remote controller signal receiving module, torsion computing module and performing module, wherein：Angle acquisition mould
Block is connected and transmission of angle information with reversing computing module, reverses and calculates module synthesis remote control module and angle acquisition mould
The data of block are calculated, and angle on target is transferred into performing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710389397.1A CN107203220A (en) | 2017-05-27 | 2017-05-27 | Flapping wing aircraft flight control method and system |
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| CN201710389397.1A CN107203220A (en) | 2017-05-27 | 2017-05-27 | Flapping wing aircraft flight control method and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867396A (en) * | 2017-11-06 | 2018-04-03 | 北京科技大学 | The flapping wing aircraft and flapping wing aircraft driving method of a kind of servo driving |
| CN108897334A (en) * | 2018-07-19 | 2018-11-27 | 上海交通大学 | A kind of imitative insect flapping wing aircraft attitude control method based on fuzzy neural network |
| CN110027707A (en) * | 2019-05-24 | 2019-07-19 | 绵阳空天科技有限公司 | A kind of steering gear control system and method for flapping wing aircraft |
| CN110442886A (en) * | 2018-05-03 | 2019-11-12 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A kind of suspension test device and design method |
| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | Stability augmentation control method of miniature flapping-wing aircraft and implementation thereof |
| CN112034868A (en) * | 2020-08-06 | 2020-12-04 | 北京航空航天大学 | Yaw control method and mechanism of bionic micro flapping wing aircraft |
| CN113504722A (en) * | 2021-06-29 | 2021-10-15 | 上海交通大学 | Flapping wing aircraft wing motion tracking control system, method, medium and equipment |
| CN114115323A (en) * | 2021-12-16 | 2022-03-01 | 杭州电子科技大学 | Three-steering-engine-driven bird-like flapping-wing aircraft modeling and control method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867396A (en) * | 2017-11-06 | 2018-04-03 | 北京科技大学 | The flapping wing aircraft and flapping wing aircraft driving method of a kind of servo driving |
| CN110442886A (en) * | 2018-05-03 | 2019-11-12 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | A kind of suspension test device and design method |
| CN108897334A (en) * | 2018-07-19 | 2018-11-27 | 上海交通大学 | A kind of imitative insect flapping wing aircraft attitude control method based on fuzzy neural network |
| CN110027707A (en) * | 2019-05-24 | 2019-07-19 | 绵阳空天科技有限公司 | A kind of steering gear control system and method for flapping wing aircraft |
| CN110703788A (en) * | 2019-10-16 | 2020-01-17 | 北京航空航天大学 | Stability augmentation control method of miniature flapping-wing aircraft and implementation thereof |
| CN112034868A (en) * | 2020-08-06 | 2020-12-04 | 北京航空航天大学 | Yaw control method and mechanism of bionic micro flapping wing aircraft |
| CN113504722A (en) * | 2021-06-29 | 2021-10-15 | 上海交通大学 | Flapping wing aircraft wing motion tracking control system, method, medium and equipment |
| CN113504722B (en) * | 2021-06-29 | 2022-08-12 | 上海交通大学 | Flapping wing aircraft wing motion tracking control system, method, medium and equipment |
| CN114115323A (en) * | 2021-12-16 | 2022-03-01 | 杭州电子科技大学 | Three-steering-engine-driven bird-like flapping-wing aircraft modeling and control method |
| CN114115323B (en) * | 2021-12-16 | 2024-03-26 | 杭州电子科技大学 | Modeling and control method of three-steering engine driven bird-like ornithopter |
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Application publication date: 20170926 |