CN110550206B - Ornithopter steering control method, device and system - Google Patents
Ornithopter steering control method, device and system Download PDFInfo
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- CN110550206B CN110550206B CN201910850567.0A CN201910850567A CN110550206B CN 110550206 B CN110550206 B CN 110550206B CN 201910850567 A CN201910850567 A CN 201910850567A CN 110550206 B CN110550206 B CN 110550206B
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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 application provides a method, a device and a system for controlling the steering of a flapping-wing aircraft, wherein the method comprises the following steps: controlling the rolling of the ornithopter by controlling the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane vertical to the rolling shaft; when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards; the clockwise direction and the anticlockwise direction refer to a rotation direction of the ornithopter based on a forward direction, namely a first-person visual angle direction of the ornithopter forward. The course and the rolling control of the ornithopter with two sections of wings are realized, the operation process is simple, and the control flexibility is improved.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a steering control method, device and system of a ornithopter.
Background
The ornithopter is an aircraft which simulates a natural bird by generating lift force and thrust through flapping wings, and has the advantages which are incomparable with straight-wing aircraft, helicopters and other types of aircraft. For example, the flapping-wing aircraft adopting the oscillating wing and the flapping-wing aircraft adopting the flat-moving wing are both driven by a machine, and the mechanical drive has the adjustability far lower than the muscular tissue of birds, and the flight stability is poor.
In the prior art, the flapping-wing aircraft adopts course control, specifically, a single chip microcomputer can receive three position signals of a rudder through a micro switch; when the rudder is in the neutral position, the aircraft course is not changed; when the rudder is pedaled leftwards, the airplane turns leftwards; when the aircraft is pedaled to the right, the aircraft turns to the right. However, this control method needs a complex circuit for support, and if it needs to be improved, it has poor flexibility and is difficult to implement.
Disclosure of Invention
The application provides a method, a device and a system for controlling the steering of a flapping-wing aircraft, which are used for solving the problem that the steering control mode of the wings in the prior art is poor in flexibility.
A first aspect of the present application provides a steering control method of an ornithopter, comprising:
controlling the rolling of the ornithopter by controlling the relative included angle of an inner section wing and an outer section wing of the ornithopter in a plane vertical to a transverse rolling shaft, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein the clockwise direction and the counter-clockwise direction refer to a direction of rotation of the ornithopter based on a forward direction.
Optionally, the controlling the roll of the ornithopter by controlling the relative angle of the inner wing section and the outer wing section of the ornithopter in a plane perpendicular to the roll axis comprises:
the length adjusting assembly is adopted to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft so as to control the rolling of the ornithopter.
Optionally, the adjusting the relative angle between the inner wing section and the outer wing section of the ornithopter in the plane perpendicular to the roll axis by using the length adjusting assembly to control the roll of the ornithopter comprises:
the length adjusting assembly receives a control signal sent by a flight control device of the ornithopter and adjusts the length of the lower connecting rod of the inner section wing according to the received control signal so as to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the rolling shaft.
A second aspect of the present application provides a steering control apparatus of an ornithopter, comprising:
a length adjustment assembly; the length adjusting assembly is arranged on an inner section wing of the ornithopter;
the length adjusting assembly is used for adjusting a relative included angle between an inner section wing and an outer section wing of the ornithopter in a plane perpendicular to a transverse rolling shaft to control the rolling of the ornithopter, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein the clockwise direction and the counter-clockwise direction refer to a direction of rotation of the ornithopter based on a forward direction.
Optionally, the length adjusting device further comprises an inner-section wing lower connecting rod, and the length adjusting assembly is connected with the inner-section wing lower connecting rod;
the length adjusting assembly is specifically used for adjusting the length of the lower connecting rod of the inner section wing of the ornithopter so as to adjust the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft.
Optionally, the inner section lower wing link includes a first portion and a second portion, the length adjustment assembly being disposed between the first portion and the second portion.
Optionally, the length adjustment assembly includes a motor, a screw rod and a nut, the motor is connected to the first portion of the inner-section wing lower connecting rod, an output shaft of the motor is connected to one end of the screw rod, and the other end of the screw rod is connected to the second portion of the inner-section wing lower connecting rod through the nut.
Optionally, the method further comprises: the upper inner section wing connecting rod, the outer section wing main shaft, the connecting rod and the outer section wing supporting rod are connected to the driving crank respectively, the first end of the lower inner section wing connecting rod and the first end of the upper inner section wing connecting rod are connected to the driving crank respectively, the second end of the lower inner section wing connecting rod is fixedly connected with the first end of the outer section wing main shaft through the outer section wing supporting rod, the second end of the upper inner section wing connecting rod is connected with the first end of the outer section wing main shaft, the first end is close to the first end of the outer section wing main shaft, and the second end of the upper inner section wing connecting rod is connected with the second end of the lower inner section wing connecting rod through the connecting rod.
A third aspect of the present application provides a steering control system of an ornithopter, comprising:
flight control means, and at least one steering control means of the ornithopter as provided in the second aspect above;
the flight control device is used for providing a control signal for a steering control device of the ornithopter;
and the steering control device of the ornithopter is used for adjusting the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane vertical to the roll shaft according to the received control signal so as to control the roll of the ornithopter.
Optionally, the system comprises two steering control devices of the ornithopter, which are respectively arranged on the left inner section wing and the right inner section wing of the ornithopter.
The application provides a turning control method, device and system of ornithopter, through controlling the relative contained angle of ornithopter inner segment wing and outer segment wing in the plane of perpendicular to roll axis, control the roll-over of ornithopter, when the left side outer segment wing is rotatory along the clockwise around first joint connecting axle, and the right side outer segment wing is rotatory along the clockwise around second joint connecting axle, control ornithopter roll-over right, when the left side outer segment wing is rotatory along the anticlockwise around first joint connecting axle, and the right side outer segment wing is rotatory along the anticlockwise around second joint connecting axle, control ornithopter roll-over left, the course and the roll-over control of the ornithopter of two-stage section wing have been realized, the operation process is simple, and the control flexibility has been improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a steering control method for an ornithopter according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a simple structure of an ornithopter according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a steering control device of an ornithopter according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a steering control device of an ornithopter according to another embodiment of the present application;
FIG. 5A is a schematic view of a wing position of an ornithopter according to an embodiment of the present disclosure in a straight flight state;
FIG. 5B is a schematic view of a wing position of the ornithopter according to an embodiment of the present disclosure in a left turn state;
FIG. 5C is a schematic view of a wing position of the ornithopter according to an embodiment of the present disclosure in a right turn state;
fig. 6 is a schematic structural diagram of a steering control system of an ornithopter according to an embodiment of the present disclosure.
Reference numerals:
10-left side wing; 11-left inner section wing; 12-left outer section wing; 13-a first articulation axis; 14-first arrow; 20-right side wing; 21-right inner section wing; 22-right outer section wing; 23-a second articulation axis; 24-second arrow; 25-inner section wing upper connecting rod; 26-outer section wing main shaft; 27-a connecting rod; 28-outer section wing support bar; 30-a transverse rolling shaft; 31-a drive crank; 40-length adjustment assembly.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
An embodiment of the present application provides a method for controlling the turning of a flapping wing aircraft, which is used for controlling the rolling of the flapping wing aircraft with two sections of wings.
As shown in fig. 1, a schematic flow chart of a steering control method of an ornithopter provided in this embodiment is provided, where the method includes:
The transverse rolling shaft is an axis which penetrates from the head to the tail of the ornithopter.
102, when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, controlling the ornithopter to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing; when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards.
Wherein, the clockwise direction and the anticlockwise direction refer to the rotation direction of the ornithopter based on the advancing direction.
Specifically, the ornithopter is a two-section ornithopter, namely, the wings of the ornithopter comprise an inner section wing and an outer section wing. Specifically, the left and right wings of the ornithopter each include an inner section wing and an outer section wing, which may be referred to as a left inner section wing, a left outer section wing, a right inner section wing, and a right outer section wing for distinction.
Illustratively, as shown in fig. 2, a simple schematic diagram of the ornithopter provided in the present embodiment is provided. Wherein the head of the ornithopter faces inwards perpendicular to the paper. In the figure, the left wing 10 represents a left wing of the ornithopter, the right wing 20 represents a right wing of the ornithopter, both the left wing and the right wing are two-segment wings, the left wing comprises a left inner-segment wing 11 and a left outer-segment wing 12, and the right wing comprises a right inner-segment wing 21 and a right outer-segment wing 22. The cross-roll axis 30 is a black dot in the figure, which represents the axis perpendicular to the paper. b1 represents the relative angle between the left inner wing and the left outer wing in the plane perpendicular to the roll axis, which may be referred to as the left roll angle for short, and b2 represents the relative angle between the right inner wing and the right outer wing in the plane perpendicular to the roll axis, which may be referred to as the right roll angle for short. The plane perpendicular to the roll axis, i.e. the plane formed by the heading axis and the pitch axis, is parallel to the plane of the paper in fig. 2.
The roll of the ornithopter is controlled by controlling the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the roll axis, specifically, the roll of the ornithopter is controlled by adjusting the left roll angle or the right roll angle of the ornithopter or adjusting the left roll angle and the right roll angle simultaneously. When the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards. When the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards.
Referring to fig. 2, the first articulation axis 13 is shown as a circle between the left inner section wing 11 and the left outer section wing 12 in the drawing, and the second articulation axis 23 is shown as a circle between the right inner section wing 21 and the right outer section wing 22 in the drawing. The rotation of the left outboard wing in a clockwise direction about the first articulation axis is shown as the direction of the first arrow 14 in FIG. 2, and the rotation of the left outboard wing in a counterclockwise direction about the first articulation axis is opposite the direction of the first arrow 14. The rotation of the right outer section wing in a clockwise direction about the second articulation axis is shown in the direction of the second arrow 24 in FIG. 2, and the rotation of the right outer section wing in a counterclockwise direction about the second articulation axis is opposite the direction of the second arrow 24.
It should be noted that directions indicated for left, right, clockwise, counterclockwise, and the like in the embodiments of the present application are all described in terms of a view angle of the ornithopter, that is, a first-person view angle direction of the ornithopter. Specifically the orientation shown in fig. 2.
It should be noted that any structure can be adopted to realize the adjustment of the left roll angle and the right roll angle, as long as the left outer section wing can rotate clockwise around the first joint connecting shaft, and the right outer section wing rotates clockwise around the second joint connecting shaft, the flapping-wing aircraft is controlled to roll rightward, the left outer section wing rotates counterclockwise around the first joint connecting shaft, and the right outer section wing rotates counterclockwise around the second joint connecting shaft, the flapping-wing aircraft is controlled to roll leftward, and this embodiment does not limit the structure to be adjusted.
The turning control method of the ornithopter provided by the embodiment controls the rolling of the ornithopter by controlling the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the rolling shaft, when the left outer section wing rotates clockwise around the first joint connecting shaft and the right outer section wing rotates clockwise around the second joint connecting shaft, the ornithopter is controlled to roll rightwards, when the left outer section wing rotates anticlockwise around the first joint connecting shaft and the right outer section wing rotates anticlockwise around the second joint connecting shaft, the ornithopter is controlled to roll leftwards, the course and rolling control of the ornithopter with two sections of wings is realized, the operation process is simple, and the control flexibility is improved.
The present application further provides a supplementary explanation of the steering control method of the ornithopter provided in the above embodiments.
On the basis of the above embodiment, optionally, controlling the roll of the ornithopter by controlling the relative angle between the inner wing section and the outer wing section of the ornithopter in a plane perpendicular to the roll axis includes:
the length adjusting component is adopted to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane vertical to the rolling shaft so as to control the rolling of the ornithopter.
Optionally, the length adjustment assembly is adapted to adjust the relative angle of the inner and outer wings of the ornithopter in a plane perpendicular to the roll axis to control roll of the ornithopter, comprising:
the length adjusting assembly receives a control signal sent by a flight control device of the ornithopter and adjusts the length of the lower connecting rod of the inner section wing according to the received control signal so as to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the roll shaft.
Specifically, the length of the lower connecting rod of the inner section wing can be adjusted by adopting the length adjusting assembly to adjust the relative included angle between the inner section wing and the outer section wing of the ornithopter in the plane perpendicular to the transverse rolling shaft.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
The turning control method of the ornithopter provided by the embodiment controls the rolling of the ornithopter by controlling the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the rolling shaft, when the left outer section wing rotates clockwise around the first joint connecting shaft and the right outer section wing rotates clockwise around the second joint connecting shaft, the ornithopter is controlled to roll rightwards, when the left outer section wing rotates anticlockwise around the first joint connecting shaft and the right outer section wing rotates anticlockwise around the second joint connecting shaft, the ornithopter is controlled to roll leftwards, the course and rolling control of the ornithopter with two sections of wings is realized, the operation process is simple, and the control flexibility is improved.
Yet another embodiment of the present application provides a steering control device for an ornithopter for controlling roll of the ornithopter with two-section wings.
Fig. 3 is a schematic structural diagram of a steering control device of an ornithopter according to this embodiment. The steering control device of the ornithopter comprises a length adjusting assembly 40 which is arranged on the inner section wing of the ornithopter.
The length adjusting assembly is used for adjusting a relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft to control the rolling of the ornithopter, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein, the clockwise direction and the anticlockwise direction refer to the rotation direction of the ornithopter based on the advancing direction.
Referring to fig. 3, the ornithopter has its head portion facing inward and its tail portion facing outward, perpendicular to the plane of the paper. In view of the ornithopter, a length adjusting component is arranged on the inner section wing of the left wing or the right wing of the ornithopter, or the length adjusting components are arranged on the inner section wings of the left wing and the right wing of the ornithopter, and fig. 3 illustrates that the length adjusting component is arranged on the right wing, and the length adjusting component 40 is used for adjusting the length of the lower connecting rod 24 of the right inner section wing, so that the relative included angle between the right inner section wing 21 and the right outer section wing 22 of the ornithopter in a plane perpendicular to the transverse rolling shaft can be adjusted. If the left side is also provided with a length adjusting component, the principle is similar to that of the right side, and the description is omitted.
The turning control device of the ornithopter provided by the embodiment controls the relative included angle between the inner section wing and the outer section wing of the ornithopter in the plane perpendicular to the rolling shaft to control the rolling of the ornithopter, when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards, when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards, the course and rolling control of the ornithopter with two sections of wings are realized, the operation process is simple, and the control flexibility is improved.
The present application further provides a supplementary explanation of the steering control device of an ornithopter according to the above-mentioned embodiment.
As a practical manner, on the basis of the above embodiment, optionally, the steering control device of the ornithopter further comprises an inner-section wing lower connecting rod 24, and the length adjusting assembly 40 is connected with the inner-section wing lower connecting rod 24;
the length adjusting component is specifically used for adjusting the length of the lower connecting rod of the inner section wing of the ornithopter so as to adjust the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft.
Alternatively, as shown in FIG. 3, the inner section lower wing link 24 includes a first portion A and a second portion B with the length adjustment assembly disposed therebetween.
Optionally, the length adjustment assembly comprises a motor, a screw rod and a nut, the motor is connected with the first part of the inner-section wing lower connecting rod, an output shaft of the motor is connected with one end of the screw rod, and the other end of the screw rod is connected with the second part of the inner-section wing lower connecting rod through the nut.
Fig. 4 is a schematic structural diagram of a steering control device of an ornithopter according to this embodiment.
Still taking the right wing as an example, optionally, the steering control device of the ornithopter further comprises: the upper inner wing connecting rod comprises an upper inner wing connecting rod 25, a main outer wing shaft 26, a connecting rod 27 and an upper outer wing supporting rod 28, wherein a first end of the lower inner wing connecting rod (see the left end of the lower inner wing connecting rod in fig. 4) and a first end of the upper inner wing connecting rod (see the left end of the upper inner wing connecting rod in fig. 4) are respectively connected to a driving crank 31, a second end of the lower inner wing connecting rod (see the right end of the lower inner wing connecting rod in fig. 4) is fixedly connected with a first position of the main outer wing shaft 26 through the upper outer wing supporting rod 28, a second end of the upper inner wing connecting rod (see the right end of the upper inner wing connecting rod in fig. 4) is connected with a first end of the main outer wing shaft, and particularly, the second end of the upper inner wing connecting rod is rotatably connected with the first end of the main outer. The first position is close to the first end of the main shaft of the outer section wing, and the second end of the upper connecting rod of the inner section wing is connected with the second end of the lower connecting rod of the inner section wing through a connecting rod 27. When the length of the lower connecting rod of the inner wing is shortened, the connecting rod 27 is driven to rotate around the second joint connecting shaft, and the supporting rod of the outer wing is pulled, so that the main shaft of the outer wing is driven to rotate around the second joint connecting shaft, and the relative included angle between the main shaft of the outer wing and the inner wing is reduced.
Specifically, the outer section wing support rod is fixedly connected with the outer section wing main shaft at a first position. One end of the outer section wing supporting rod is fixedly connected with one end of the second part of the inner section wing lower connecting rod, and the other end of the outer section wing supporting rod is fixedly connected with the first position of the outer section wing main shaft. The connecting rod is arranged between the inner section wing upper connecting rod and the inner section wing lower connecting rod, two ends of the connecting rod are respectively connected with the inner section wing upper connecting rod and the inner section wing lower connecting rod through bearings, the connecting rod, the outer section wing supporting rod and the inner section wing main shaft form a triangular shape, and the inner section wing upper connecting rod, the inner section wing lower connecting rod, the connecting rod and the driving crank form a quadrilateral shape.
Specifically, the nut is fixedly connected with the second part of the inner-section wing lower connecting rod, the motor is fixedly connected with the first part of the inner-section wing lower connecting rod, the output shaft of the motor is fixedly connected with the screw rod, and the screw rod and the nut can rotate relatively to stretch into or stretch out of the nut. The screw rod is driven to rotate relative to the nut through the positive and negative rotation of the motor output shaft, and the screw rod extends into the nut or extends out of the nut, so that the length of the lower connecting rod of the inner-section wing is adjusted. The relative included angle between the outer section wing and the inner section wing is increased when the length of the inner section wing lower connecting rod is extended, and the relative included angle between the inner section wing and the outer section wing is reduced when the length of the inner section wing lower connecting rod is shortened. Wherein, the motor is a bidirectional motor.
Alternatively, the nut may refer to a thread structure that one end (e.g., the left end in fig. 4B) of the second portion of the inner-section wing lower link is configured to match with the screw rod, so that the screw rod may extend into the inner-section wing lower link or extend out of the inner-section wing lower link when rotating, thereby equivalently adjusting the length of the inner-section wing lower link.
Optionally, the distance between the first end of the outer-section wing main shaft and the first position may be set according to actual requirements, and this embodiment is not limited.
Optionally, the inner section wing lower link, the inner section wing upper link and other auxiliary materials, which are not shown in the figure, together form the inner section wing.
For example, as shown in fig. 5A, a schematic view of the wing position of the ornithopter provided in this embodiment in the straight flight state is shown. Wherein, the AB pole is the lower connecting rod of inner segment wing promptly, installs length adjustment device on the AB pole, adds two-way motor promptly, and the output shaft and the hob of motor are connected, and the other end of hob passes through the nut to be connected with the second part of AB pole. The rotation of the motor is controlled through the flight control device, and the depth of the spiral rod screwed into the nut is changed through the rotation of the motor, so that the length of the whole AB rod is changed. The deeper the screw rod is screwed into the AB rod, the shorter the length of the whole AB rod is, and vice versa. In the direct flight state, the flapping positions of the left wing and the right wing are symmetrical.
For example, as shown in fig. 5B, a schematic view of the wing position of the ornithopter provided in this embodiment in a left turn state is shown. Under the state of turning left, the left outer section wing rotates anticlockwise around the first joint connecting shaft, and the right outer section wing rotates anticlockwise around the second joint connecting shaft.
For example, as shown in fig. 5C, a schematic view of the wing position of the ornithopter provided in this embodiment in a right-turn state is shown. Under the state of turning right, the left outer section wing rotates clockwise around the first joint connecting shaft, and the right outer section wing rotates clockwise around the second joint connecting shaft.
In fig. 5A to 5C, the head of the ornithopter is inward from the vertical paper, that is, the forward direction of the ornithopter is inward from the vertical paper, and the tail is outward.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
According to the turning control device of the ornithopter, the rolling of the ornithopter is controlled by controlling the relative included angle between the inner section wing and the outer section wing of the ornithopter in the plane perpendicular to the rolling shaft, when the left outer section wing rotates clockwise around the first joint connecting shaft and the right outer section wing rotates clockwise around the second joint connecting shaft, the ornithopter is controlled to roll rightwards, when the left outer section wing rotates anticlockwise around the first joint connecting shaft and the right outer section wing rotates anticlockwise around the second joint connecting shaft, the ornithopter is controlled to roll leftwards, the course and rolling control of the ornithopter with two sections of wings are realized, the operation process is simple, and the control flexibility is improved.
Another embodiment of the present application provides a steering control system for a flapping-wing aircraft, which performs steering control on a flapping-wing aircraft having two sections of wings.
Fig. 6 is a schematic structural diagram of a steering control system of the ornithopter according to the present embodiment. The steering control system of the ornithopter comprises:
flight control device, and at least one ornithopter steering control device that any above embodiment provided.
The flight control device is used for providing a control signal for a steering control device of the ornithopter; the steering control device of the ornithopter is used for adjusting the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane vertical to the rolling shaft according to the received control signal so as to control the rolling of the ornithopter.
Alternatively, a hydraulic control system may be used to adjust the left roll angle and the right roll angle.
Alternatively, a servo control system may be used to adjust the roll angle on the left and roll angle on the right.
Alternatively, the steering control system of the ornithopter may comprise one steering control device of the ornithopter, and may also comprise two steering control devices of the ornithopter. If the number of the inner wings is one, the inner wings can be arranged on the left side or the right side of the ornithopter; if two flapping wing aircraft steering control devices are included, one flapping wing aircraft steering control device can be respectively arranged on the left inner section wing and the right inner section wing of the flapping wing aircraft.
The turning control device of the ornithopter controls the rolling of the ornithopter by controlling the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane vertical to a transverse rolling shaft, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein, the clockwise direction and the anticlockwise direction refer to the rotation direction of the ornithopter based on the advancing direction.
It should be noted that the specific operation and control principle of the steering control device of the ornithopter in the present embodiment are the same as those of the above embodiments, and will not be described herein again.
The turning control system of the ornithopter provided by the embodiment controls the rolling of the ornithopter by controlling the relative included angle between the inner section wing and the outer section wing of the ornithopter in the plane perpendicular to the rolling shaft, when the left outer section wing rotates clockwise around the first joint connecting shaft and the right outer section wing rotates clockwise around the second joint connecting shaft, the ornithopter is controlled to roll rightwards, when the left outer section wing rotates anticlockwise around the first joint connecting shaft and the right outer section wing rotates anticlockwise around the second joint connecting shaft, the ornithopter is controlled to roll leftwards, the course and rolling control of the ornithopter with two sections of wings are realized, the operation process is simple, and the control flexibility is improved.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for controlling the steering of an ornithopter, comprising:
controlling the rolling of the ornithopter by controlling the relative included angle of an inner section wing and an outer section wing of the ornithopter in a plane vertical to a transverse rolling shaft, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein the clockwise direction and the counter-clockwise direction refer to a direction of rotation of the ornithopter based on a forward direction.
2. The method of claim 1, wherein controlling roll of the ornithopter by controlling the relative angle of the inner and outer wings of the ornithopter in a plane perpendicular to the roll axis comprises:
the length adjusting assembly is adopted to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft so as to control the rolling of the ornithopter.
3. The method of claim 2, wherein controlling roll of the ornithopter by adjusting the relative angle of the inner and outer wings of the ornithopter in a plane perpendicular to the roll axis using the length adjustment assembly comprises:
the length adjusting assembly receives a control signal sent by a flight control device of the ornithopter and adjusts the length of the lower connecting rod of the inner section wing according to the received control signal so as to adjust the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the rolling shaft.
4. A steering control device for an ornithopter, comprising: a length adjustment assembly; the length adjusting assembly is arranged on an inner section wing of the ornithopter;
the length adjusting assembly is used for adjusting a relative included angle between an inner section wing and an outer section wing of the ornithopter in a plane perpendicular to a transverse rolling shaft to control the rolling of the ornithopter, wherein the transverse rolling shaft is an axis penetrating from the head to the tail of the ornithopter;
when the left outer section wing rotates around the first joint connecting shaft in the clockwise direction and the right outer section wing rotates around the second joint connecting shaft in the clockwise direction, the ornithopter is controlled to roll rightwards; the first joint connecting shaft is a connecting shaft for connecting the left inner section wing and the left outer section wing; the second joint connecting shaft is a connecting shaft for connecting the right inner section wing and the right outer section wing;
when the left outer section wing rotates around the first joint connecting shaft in the anticlockwise direction and the right outer section wing rotates around the second joint connecting shaft in the anticlockwise direction, the ornithopter is controlled to roll leftwards;
wherein the clockwise direction and the counter-clockwise direction refer to a direction of rotation of the ornithopter based on a forward direction.
5. The apparatus of claim 4, further comprising an inner section wing lower link, the length adjustment assembly being connected to the inner section wing lower link;
the length adjusting assembly is specifically used for adjusting the length of the lower connecting rod of the inner section wing of the ornithopter so as to adjust the relative included angle between the inner section wing and the outer section wing of the ornithopter in a plane perpendicular to the transverse rolling shaft.
6. The apparatus of claim 5, wherein the inner section lower wing link includes a first portion and a second portion, the length adjustment assembly disposed between the first portion and the second portion.
7. The apparatus of claim 6, wherein the length adjustment assembly comprises a motor, a screw rod, and a nut, the motor is coupled to a first portion of the inner section lower wing link, an output shaft of the motor is coupled to one end of the screw rod, and the other end of the screw rod is coupled to a second portion of the inner section lower wing link via the nut.
8. The apparatus of claim 5, further comprising: the upper inner section wing connecting rod, the outer section wing main shaft, the connecting rod and the outer section wing supporting rod are connected to the driving crank respectively, the first end of the lower inner section wing connecting rod and the first end of the upper inner section wing connecting rod are connected to the driving crank respectively, the second end of the lower inner section wing connecting rod is fixedly connected with the first end of the outer section wing main shaft through the outer section wing supporting rod, the second end of the upper inner section wing connecting rod is connected with the first end of the outer section wing main shaft, the first end is close to the first end of the outer section wing main shaft, and the second end of the upper inner section wing connecting rod is connected with the second end of the lower inner section wing connecting rod through the connecting rod.
9. A steering control system for an ornithopter, comprising:
-a flight control device, and-at least one steering control device of the ornithopter according to any one of claims 4 to 8;
the flight control device is used for providing a control signal for a steering control device of the ornithopter;
and the steering control device of the ornithopter is used for adjusting the relative included angle of the inner section wing and the outer section wing of the ornithopter in a plane vertical to the roll shaft according to the received control signal so as to control the roll of the ornithopter.
10. The ornithopter steering control system according to claim 9, comprising two of the ornithopter steering control devices provided on the left and right inner wings of the ornithopter, respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910850567.0A CN110550206B (en) | 2019-09-10 | 2019-09-10 | Ornithopter steering control method, device and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850567.0A CN110550206B (en) | 2019-09-10 | 2019-09-10 | Ornithopter steering control method, device and system |
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| CN110550206A CN110550206A (en) | 2019-12-10 |
| CN110550206B true CN110550206B (en) | 2020-11-06 |
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| CN111994266B (en) * | 2020-09-02 | 2023-05-30 | 广西大学 | Folding wing ornithopter |
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| CN2918218Y (en) * | 2005-11-30 | 2007-07-04 | 许允夫 | Foldaway two-section-type wings for ornithopter |
| CN201941975U (en) * | 2010-12-29 | 2011-08-24 | 上海工程技术大学 | Ornithopter simulating folding wing flapping of birds |
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| CN110550206A (en) | 2019-12-10 |
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