CN110027707A - A kind of steering gear control system and method for flapping wing aircraft - Google Patents
A kind of steering gear control system and method for flapping wing aircraft Download PDFInfo
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- CN110027707A CN110027707A CN201910437655.8A CN201910437655A CN110027707A CN 110027707 A CN110027707 A CN 110027707A CN 201910437655 A CN201910437655 A CN 201910437655A CN 110027707 A CN110027707 A CN 110027707A
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- flapping wing
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- 230000004048 modification Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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Abstract
The invention discloses a kind of steering gear control system of flapping wing aircraft and methods, and the system comprises flapping wing commutation detection module, central processing unit and steering engine control modules；The flapping wing commutation detection module, the flapping wing commutation information for detecting flapping wing aircraft send different commutation signals to central processing unit when detecting that flapping wing is in extreme lower position and extreme higher position；The central processing unit generates steering engine rotation control instruction and is transferred to steering engine control module according to the commutation signal from flapping wing commutation detection module；The steering engine control module controls the steering engine rotation of flapping wing aircraft for the steering engine rotation control instruction according to central processing unit.The present invention effectively reduces in flapping wing aircraft flight course, and flapping wing agitates bring negative lift upwards, and can dramatically increase forward push power.
Description
Technical field
The present invention relates to flapping wing aircrafts, more particularly to the steering gear control system and method for a kind of flapping wing aircraft.
Background technique
Flapping wing aircraft refer to wing can as bird as insect wing the aircraft for overweighting air fluttered up and down.Flapping wing
It is low significantly a little to have high-efficient, light weight, energy consumption compared with common fixed-wing, rotor craft for aircraft, and flutters
Rotor aircraft has natural advantage in terms of safety and concealment, is the important directions of aircraft development.
For now, the flapping wing of flapping wing aircraft can give biggish negative lift, be entire during agitating upwards
The operation of aircraft brings adverse effect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of steering gear control system of flapping wing aircraft and
Method effectively reduces flapping wing and agitates bring negative lift upwards, and can dramatically increase forward push power.
The purpose of the present invention is achieved through the following technical solutions: a kind of steering gear control system of flapping wing aircraft,
Including flapping wing commutation detection module, central processing unit and steering engine control module；
The flapping wing commutation detection module is detecting flapping wing in most for detecting the flapping wing commutation information of flapping wing aircraft
When lower position and extreme higher position, different commutation signals is sent to central processing unit；
The central processing unit generates steering engine rotation control instruction and passes according to the commutation signal from flapping wing commutation detection module
It is defeated by steering engine control module；
The steering engine control module, for the steering engine rotation control instruction according to central processing unit, for the rudder of flapping wing aircraft
Machine rotation is controlled.
Preferably, flapping wing commutation detection module includes that microprocessor, memory, detection flapping wing are located at extreme higher position
First detection components, detection flapping wing are located at the second detection components of extreme lower position；
First detection components include the first Hall sensor being set in flapping wing aircraft rack, are set to flapping flight
The first magnet block on first flapping wing of device, first Hall sensor are transported for detecting the first magnet block with first flapping wing
Dynamic bring magnetic field transformation；
Second detection components include the second Hall sensor, setting and the flapping flight being set in flapping wing aircraft rack
The second magnet block on second flapping wing of device, first Hall sensor are transported for detecting the second magnet block with second flapping wing
Dynamic bring magnetic field transformation；
Extreme higher position signal and extreme lower position signal are preserved in the memory, the extreme higher position signal is first and flutters
When the wing is in extreme higher position, the signal of the first Hall sensor output；The extreme lower position signal is flapping wing aircraft second
When flapping wing is located at extreme lower position, the signal of the second Hall sensor output；
The output end of first Hall sensor and the second Hall sensor is connect with microprocessor, and the microprocessor is also
It is connect with central processing unit and memory, the signal that microprocessor is used to export in the first Hall sensor is equal to highest order confidence
Number when, it is believed that flapping wing is in extreme higher position, to central processing unit send the first commutation signal, and the second Hall sensor export
Signal be equal to extreme lower position signal when, it is believed that flapping wing be in extreme lower position, to central processing unit transmission the second commutation signal.
Preferably, first Hall sensor is arranged close to first flapping wing, and second Hall sensor is close
It is arranged in second flapping wing.
Preferably, the central processing unit includes:
First commutation instruction generation unit, for receive from flapping wing commutation detection module the first commutation signal when, to
Steering engine control module sends control steering engine and is rotated up 45 degree of instruction, to increase forward motive force；
Second commutation instruction generation unit, for receive from flapping wing commutation detection module the second commutation signal when, to
Steering engine control module sends the instruction that control steering engine rotates down 45 degree, and smaller flapping wing projected area in the horizontal direction reduces
Negative lift increases forward push power.
A kind of method that the steering gear control system of flapping wing aircraft carries out steering engine control, comprising the following steps:
S1. the flapping wing of flapping wing commutation detection module detection flapping wing aircraft commutates information, is detecting that flapping wing is in extreme higher position
When, the first commutation signal is sent to central processing unit, when detecting that flapping wing is in extreme lower position, sends the second commutation to flapping wing
Signal；
S2. it when central processing unit is received from the commutation signal of flapping wing detection module, generates control instruction and is sent to steering engine control
Molding block:
If receiving the first commutation signal from flapping wing commutation detection module, it is upward that control steering engine is sent to steering engine control module
The instruction of 45 degree of rotation；
If receive from flapping wing commutation detection module the second commutation signal, to steering engine control module send control steering engine to
The instruction of lower 45 degree of rotation；
S3. steering engine control module carries out course changing control to steering engine, to realize reduction flapping wing according to the control signal of central processing unit
Projected area in the horizontal direction reduces negative lift, increases forward push power.
The beneficial effects of the present invention are: the present invention passes through extreme higher position and lowest order during detection flapping wing is agitated up and down
It sets, to obtain the commutation signal that flapping wing is agitated, when flapping wing is agitated downwards, control steering engine is rotated up 45 degree, increases flapping wing and exists
The projected area of vertical direction improves forward motive force；When flapping wing is agitated upwards, control steering engine rotates down 45 degree, increases
Add flapping wing in the projected area of vertical direction, reduces flapping wing projected area in the horizontal direction, to improve forward push
Power reduces negative lift.
Detailed description of the invention
Fig. 1 is system principle diagram of the invention；
Fig. 2 is the functional block diagram of flapping wing commutation detection module；
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of steering gear control system of flapping wing aircraft, including flapping wing commutation detection module, central processing
Device and steering engine control module；
The flapping wing commutation detection module is detecting flapping wing in most for detecting the flapping wing commutation information of flapping wing aircraft
When lower position and extreme higher position, different commutation signals is sent to central processing unit；
The central processing unit generates steering engine rotation control instruction and passes according to the commutation signal from flapping wing commutation detection module
It is defeated by steering engine control module；
The steering engine control module, for the steering engine rotation control instruction according to central processing unit, for the rudder of flapping wing aircraft
Machine rotation is controlled.
As shown in Fig. 2, in embodiments herein, the flapping wing commutation detection module include microprocessor, memory,
Detection flapping wing is located at the first detection components of extreme higher position, detection flapping wing is located at the second detection components of extreme lower position；
First detection components include the first Hall sensor being set in flapping wing aircraft rack, are set to flapping flight
The first magnet block on first flapping wing of device, first Hall sensor are transported for detecting the first magnet block with first flapping wing
Dynamic bring magnetic field transformation；
Second detection components include the second Hall sensor, setting and the flapping flight being set in flapping wing aircraft rack
The second magnet block on second flapping wing of device, first Hall sensor are transported for detecting the second magnet block with second flapping wing
Dynamic bring magnetic field transformation；
Extreme higher position signal and extreme lower position signal are preserved in the memory, the extreme higher position signal is first and flutters
When the wing is in extreme higher position, the signal of the first Hall sensor output；The extreme lower position signal is flapping wing aircraft second
When flapping wing is located at extreme lower position, the signal of the second Hall sensor output；
The output end of first Hall sensor and the second Hall sensor is connect with microprocessor, and the microprocessor is also
It is connect with central processing unit and memory, the signal that microprocessor is used to export in the first Hall sensor is equal to highest order confidence
Number when, it is believed that flapping wing is in extreme higher position, to central processing unit send the first commutation signal, and the second Hall sensor export
Signal be equal to extreme lower position signal when, it is believed that flapping wing be in extreme lower position, to central processing unit transmission the second commutation signal.
In the above-described embodiments, it is synchronous for agitating direction due to two flapping wings of flapping wing aircraft, thus ought wherein one flutter
When the wing is in extreme higher position, another flapping wing must be in extreme higher position, when extreme lower position similarly；Therefore the present invention is flutterred at two respectively
Magnet block is set on the wing, utilizes different Hall sensor detection extreme higher positions and extreme lower position；To guarantee the accuracy detected,
First Hall sensor is arranged close to first flapping wing, and second Hall sensor is set close to second flapping wing
It sets, to improve the intensity of detection signal.
In embodiments herein, the central processing unit includes:
First commutation instruction generation unit, for receive from flapping wing commutation detection module the first commutation signal when, to
Steering engine control module sends control steering engine and is rotated up 45 degree of instruction, to increase forward motive force；
Second commutation instruction generation unit, for receive from flapping wing commutation detection module the second commutation signal when, to
Steering engine control module sends the instruction that control steering engine rotates down 45 degree, and smaller flapping wing projected area in the horizontal direction reduces
Negative lift increases forward push power.
As shown in figure 3, the method that a kind of steering gear control system of flapping wing aircraft carries out steering engine control, including following step
It is rapid:
S1. the flapping wing of flapping wing commutation detection module detection flapping wing aircraft commutates information, is detecting that flapping wing is in extreme higher position
When, the first commutation signal is sent to central processing unit, when detecting that flapping wing is in extreme lower position, sends the second commutation to flapping wing
Signal；
S2. it when central processing unit is received from the commutation signal of flapping wing detection module, generates control instruction and is sent to steering engine control
Molding block:
If receiving the first commutation signal from flapping wing commutation detection module, it is upward that control steering engine is sent to steering engine control module
The instruction of 45 degree of rotation；
If receive from flapping wing commutation detection module the second commutation signal, to steering engine control module send control steering engine to
The instruction of lower 45 degree of rotation；
S3. steering engine control module carries out course changing control to steering engine, to realize reduction flapping wing according to the control signal of central processing unit
Projected area in the horizontal direction reduces negative lift, increases forward push power.
The present invention agitated up and down by detection flapping wing during extreme higher position and extreme lower position, agitate obtaining flapping wing
Commutation signal agitates downwards (central processing unit receives the first commutation signal from flapping wing commutation detection module) in flapping wing
When, control steering engine is rotated up 45 degree, increases flapping wing in the projected area of vertical direction, reduces flapping wing projection in the horizontal direction
A part of positive lift force is converted to forward motive force by area；Agitate that (central processing unit is received from flapping wing upwards in flapping wing
Second commutation signal of commutation detection module) when, control steering engine rotates down 45 degree, increases flapping wing on the perspective plane of vertical direction
Product reduces flapping wing projected area in the horizontal direction, so that part negative lift is converted to forward motive force, is improving forward
Push power while, reduce negative lift to flapping wing aircraft bring adversely affect.
The above description shows and describes a preferred embodiment of the present invention, but as previously described, it should be understood that the present invention
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through within that scope of the inventive concept describe herein
It is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be in this hair
In the protection scope of bright appended claims.
Claims (4)
1. a kind of steering gear control system of flapping wing aircraft, it is characterised in that: including flapping wing commutation detection module, central processing unit
With steering engine control module；
The flapping wing commutation detection module is detecting flapping wing in most for detecting the flapping wing commutation information of flapping wing aircraft
When lower position and extreme higher position, different commutation signals is sent to central processing unit；
The central processing unit generates steering engine rotation control instruction and passes according to the commutation signal from flapping wing commutation detection module
It is defeated by steering engine control module；
The steering engine control module, for the steering engine rotation control instruction according to central processing unit, for the rudder of flapping wing aircraft
Machine rotation is controlled.
2. a kind of steering gear control system of flapping wing aircraft according to claim 1, it is characterised in that: the flapping wing commutation
Detection module includes microprocessor, memory, detection flapping wing is located at the first detection components of extreme higher position, detection flapping wing is located at most
Second detection components of lower position；
First detection components include the first Hall sensor being set in flapping wing aircraft rack, are set to flapping flight
The first magnet block on first flapping wing of device, first Hall sensor are transported for detecting the first magnet block with first flapping wing
Dynamic bring magnetic field transformation；
Second detection components include the second Hall sensor, setting and the flapping flight being set in flapping wing aircraft rack
The second magnet block on second flapping wing of device, first Hall sensor are transported for detecting the second magnet block with second flapping wing
Dynamic bring magnetic field transformation；
Extreme higher position signal and extreme lower position signal are preserved in the memory, the extreme higher position signal is first and flutters
When the wing is in extreme higher position, the signal of the first Hall sensor output；The extreme lower position signal is flapping wing aircraft second
When flapping wing is located at extreme lower position, the signal of the second Hall sensor output；
The output end of first Hall sensor and the second Hall sensor is connect with microprocessor, and the microprocessor is also
It is connect with central processing unit and memory, the signal that microprocessor is used to export in the first Hall sensor is equal to highest order confidence
Number when, it is believed that flapping wing is in extreme higher position, to central processing unit send the first commutation signal, and the second Hall sensor export
Signal be equal to extreme lower position signal when, it is believed that flapping wing be in extreme lower position, to central processing unit transmission the second commutation signal.
3. a kind of steering gear control system of flapping wing aircraft according to claim 2, it is characterised in that: the central processing
Device includes:
First commutation instruction generation unit, for receive from flapping wing commutation detection module the first commutation signal when, to
Steering engine control module sends control steering engine and is rotated up 45 degree of instruction, to increase forward motive force；
Second commutation instruction generation unit, for receive from flapping wing commutation detection module the second commutation signal when, to
Steering engine control module sends the instruction that control steering engine rotates down 45 degree, and smaller flapping wing projected area in the horizontal direction reduces
Negative lift increases forward push power.
4. a kind of steering gear control system progress steering engine control of flapping wing aircraft described according to claim 1 ~ any one of 3
Method, it is characterised in that: the following steps are included:
S1. the flapping wing of flapping wing commutation detection module detection flapping wing aircraft commutates information, is detecting that flapping wing is in extreme higher position
When, the first commutation signal is sent to central processing unit, when detecting that flapping wing is in extreme lower position, sends the second commutation to flapping wing
Signal；
S2. it when central processing unit is received from the commutation signal of flapping wing detection module, generates control instruction and is sent to steering engine control
Molding block:
If receiving the first commutation signal from flapping wing commutation detection module, it is upward that control steering engine is sent to steering engine control module
The instruction of 45 degree of rotation；
If receive from flapping wing commutation detection module the second commutation signal, to steering engine control module send control steering engine to
The instruction of lower 45 degree of rotation；
S3. steering engine control module carries out course changing control to steering engine according to the control signal of central processing unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910437655.8A CN110027707B (en) | 2019-05-24 | 2019-05-24 | Steering engine control system and method of flapping wing aircraft |
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| CN201910437655.8A CN110027707B (en) | 2019-05-24 | 2019-05-24 | Steering engine control system and method of flapping wing aircraft |
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| CN110027707B CN110027707B (en) | 2020-12-15 |
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Cited By (3)
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| CN110615098A (en) * | 2019-09-20 | 2019-12-27 | 仿翼(北京)科技有限公司 | Aircraft and aircraft control method |
| CN112224406A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft and method for controlling flapping wing aircraft |
| CN115040874A (en) * | 2022-06-15 | 2022-09-13 | 成都童趣智能游乐设备有限公司 | Real vehicle driving and game driving integrated racing car game system and method |
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Effective date of registration: 20240408 Address after: 621052 No.6, south section of the Second Ring Road, Mianyang City, Sichuan Province Patentee after: Institute of aerospace technology, China Aerodynamics Research and Development Center Country or region after: China Address before: 621000 room 324, Zone D, incubator of entrepreneurship service center, science and innovation District, Mianyang City, Sichuan Province Patentee before: MIANYANG KONGTIAN TECHNOLOGY Co.,Ltd. Country or region before: China |