CN112034868A - Yaw control method and mechanism of bionic micro flapping wing aircraft - Google Patents
Yaw control method and mechanism of bionic micro flapping wing aircraft Download PDFInfo
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Abstract
The invention discloses a yaw control method and a yaw control mechanism of a bionic miniature flapping wing aircraft. The invention imitates the yaw control principle of insect and hummingbird flying in nature, considers the actual vibration characteristic of the micro flapping-wing aircraft, designs a corresponding control mechanism based on the yaw control method of the bionic micro flapping-wing aircraft, and provides two mechanism design schemes of a single steering engine and a double steering engine yaw control, and the yaw control of the bionic micro flapping-wing aircraft is realized by directly operating the wings through the steering engines. Compared with the existing yaw control method and mechanism of the bionic micro flapping wing aircraft, the yaw control method and mechanism provided by the invention have the advantages that the direct operation of the yaw control on the wings is realized, the control mechanism is simple to realize, the operation is easy, and the requirements of small size and light weight of the bionic micro flapping wing aircraft are met.
Description
Technical Field
The invention relates to the field of miniature aircrafts, in particular to a yaw control method and a yaw control mechanism of a bionic miniature flapping wing aircraft.
Background
The miniature aircraft is a novel aircraft developed in the middle of the 90 s of the 20 th century. In the last two decades, with the continuous improvement of the traditional aircraft design technology and the continuous maturation of the microelectronic technology, micro aircraft have been proposed and developed rapidly. The micro aircraft has the characteristics of small volume, light weight, good concealment and the like, and has wide application prospects in the military and civil fields of reconnaissance, communication, exploration, assistance in rescue and the like.
The bionic micro flapping wing aircraft is taken as an important branch of the micro aircraft, and gradually appears along with the development of the bionic design. The bionic miniature flapping wing air vehicle has a bionic shape, generates pneumatic torque by finely controlling the flapping process of the flapping wings by using the biological flight principle for reference, has strong maneuverability, and has hovering and vertical take-off and landing capabilities. In recent years, with the deep research on the flying mechanics of insects and hummingbirds, the bionic micro flapping wing air vehicle is further developed in the miniaturization direction, and a feasible scheme is provided for executing tasks in narrow and complex spaces.
With the further development of the bionic micro flapping wing aircraft, the bionic micro flapping wing aircraft disclosed currently needs to be further improved. Most of bionic miniature flapping wing aircrafts at the present stage solve the problems of pitch and roll control but lack of yaw control, and two or more steering engines are applied as an execution part for pitch and roll control. The wings and the mechanism of the bionic micro flapping wing aircraft designed in practice are difficult to achieve strict bilateral symmetry in the manufacturing process, so that the aerodynamic force and the moment on the left wing and the right wing are also deviated to cause the aircraft to have an unavoidable yaw moment. The aircraft without yaw control cannot overcome yaw moment caused by initial asymmetry of left and right wings, and cannot perform yaw control to cause mobility loss.
In the currently disclosed yaw control method, there is a method of changing the relative position of the frame to make the airframe generate torque to make the airframe perform yaw motion (for example, patent CN 110712750 a, a miniature four-flapping-wing aircraft control system), and there is also a method of changing the average turning position of the wings by means of the steering engine driving the gears to realize control of the control mechanism (for example, patent CN 106864750 a, a miniature link mechanism capable of controlling the average turning position), thereby realizing yaw attitude control. The former method is to operate the body of the micro flapping wing aircraft, and has a complex structure, and although the latter method can control the attack angle of the flapping wing to a certain extent, the control mechanism is complex due to the way that the steering engine drives the gear. The bionic micro flapping wing aircraft usually moves in a narrow space, so that the aircraft does not have a large space to execute control actions in the practical application process, and the phenomena that the aircraft is unfavorable for the aircraft, such as collision with surrounding obstacles and the like can occur when the control actions are large. In addition, the bionic micro flapping wing aircraft needs to track a specific target, which also puts higher requirements on the accuracy of yaw control.
In view of the above background, there is still a need to invent a yaw control method meeting the flight application requirements of a bionic micro flapping-wing aircraft in a small, light and narrow space, and a yaw control mechanism with a targeted design and easy operation.
Disclosure of Invention
The invention provides a yaw control method and a yaw control mechanism of a bionic micro flapping wing aircraft, aiming at the problem of yaw control of the bionic micro flapping wing aircraft.
The invention discloses a yaw control method and a yaw control mechanism of a bionic miniature flapping wing aircraft, which are mainly used for accurately controlling yaw maneuvering in a narrow space and specifically comprise three links of yaw attitude angle resolving, PID (proportion integration differentiation) control algorithm application and yaw moment generation.
The aircraft carries out yaw maneuvering accurate control in a narrow space, firstly, accurate hovering is realized at each moment, the yaw angle is controlled at an expected value, and then yaw maneuvering control at the next moment is carried out on the basis. When the aircraft needs yaw real-time correction when accurate hovering, the input yaw instruction is zero, and the aircraft performs yaw stability augmentation control, so that the aircraft is kept at an expected balance position in a narrow space at each moment; on the basis of accurate hovering, when the aircraft carries out yaw maneuvering accurate control in a narrow space, the yaw instruction input at the moment is small and not zero, and yaw control aims at achieving accurate and rapid arrival of the yaw attitude angle of the aircraft at an instruction value.
When the aircraft needs to correct the deviation of the yaw angle in the balanced state, firstly, a current yaw attitude angle estimation value of the aircraft is obtained through yaw attitude angle calculation, and the yaw attitude angle estimation value is differed with a yaw attitude angle instruction value, namely the yaw attitude angle of the aircraft at the balanced position, so that a difference value is obtained; then, calculating a yaw control execution command by applying a PID control algorithm to the yaw angle difference value, and inputting the control execution command to a yaw control execution component; and finally, the yaw control actuating mechanism is controlled to generate a yaw moment, so that the yaw attitude of the aircraft is changed, and the yaw attitude is restored to the balance position.
When the yaw attitude of the aircraft is required to change in a minimum range, namely, accurate yaw maneuvering is carried out, firstly, a current yaw attitude angle estimated value of the aircraft is obtained through yaw attitude angle calculation, a difference value is obtained by subtracting the yaw attitude angle estimated value and a yaw attitude angle instruction value, and a required rudder deflection is calculated through a mixed control matrix; then, inputting a yaw rudder deflection control execution command to a yaw control execution component; and finally, the yaw control actuating mechanism is controlled to generate a yaw moment, and the yaw attitude of the aircraft is changed in a small range, so that the yaw attitude reaches the position required by the command.
Calculating the yaw attitude angle, namely measuring the yaw angular acceleration, the yaw angular velocity and the magnetic direction angle by an accelerometer, a gyroscope and a magnetometer; and then, taking the three measurement signals as input, and obtaining an estimated yaw attitude angle value by utilizing an attitude calculation algorithm consisting of complementary filtering and extended Kalman filtering. The algorithm is mainly used for solving the problems that the movement attitude data change is severe and signals are difficult to accurately measure due to the fact that the mechanism vibrates greatly when the wing of the micro aircraft moves.
The PID control algorithm is divided into three steps, firstly, the yaw attitude angle estimated value is compared with the aircraft yaw attitude angle instruction value to obtain a yaw attitude angle difference value; then, PID control is applied to the yaw attitude angle difference value to obtain a yaw attitude angle control execution expectation, and rudder deflection quantity required for eliminating yaw attitude angle deviation is calculated through a mixed control matrix; finally, a yaw rudder deflection control execution command is input to the yaw control execution means.
The yaw moment generating method is characterized in that a yaw moment generating principle of biological flight is applied in a bionic mode, and the bionic miniature flapping wing aircraft applying the yaw moment generating method is provided with a pair of wings which are distributed on two sides of a fuselage in a bilateral symmetry mode. The left wing and the right wing are both composed of wing rods and wing membranes, wherein the wing rods comprise front edge wing rods and side wing rods, the upper edges and the side edges of the wing membranes are vertical, and the lower edges of the wing membranes are arc-shaped. The front edge wing rod is connected with the upper edge of the wing membrane, and the side wing rod is connected with the side edge of the wing membrane. The yaw control steering engine is positioned below the lateral wing rods. When a right yawing moment is needed, the yawing control steering engine drives the left wing lateral wing rod to swing backwards around the wing root position through the rudder arm on the yawing control steering engine, the right wing lateral wing rod swings forwards around the wing root position, so that the left wing membrane is tensioned during forward flapping, the attack angle is reduced, the right wing membrane is loosened, the attack angle is increased, the left wing membrane is loosened during backward flapping, the attack angle is increased, the right wing membrane is tensioned, the attack angle is reduced, therefore, the backward flapping resistance of the left wing is greater than the forward flapping resistance, the backward flapping resistance of the right wing is less than the forward flapping resistance, and accordingly, a right yawing moment is formed on the left wing and the right wing. The action of generating the left yaw moment is opposite to the action of generating the right yaw moment.
The yaw moment generation method can be realized by simultaneously controlling the tension degree and the deformation of the left wing membrane and the right wing membrane on the bionic micro flapping wing aircraft through one control steering engine, and can also be realized by respectively controlling the tension degree and the deformation of the left wing membrane and the right wing membrane on the bionic micro flapping wing aircraft through two control steering engines.
A yaw control steering engine of the miniature aircraft which generates yaw control by using a yaw control steering engine to control the deformation of wings is a rotary steering engine and is positioned at the center of a connecting line of the bottom ends of side wing rods of left and right wings, and a rotary steering engine arm also drives the side wing rods of the two wings to swing back and forth. Use the required clockwise yaw moment of production right side driftage as an example, rotatory steering wheel anticlockwise rotation this moment, drive left side flank pole around wing root position backward swing, right side wing root around wing root position forward swing, make the wing membrane tensioning when the left wing is clapped before, the angle of attack reduces, the wing membrane relaxes when clapping after, the angle of attack increases, make the resistance of clapping after be greater than the resistance of clapping before, form clockwise yaw moment on the left wing, also can produce the clockwise yaw moment of same direction on the right wing like this, the general left side of seeing this moment, the right wing produces clockwise yaw moment drive aircraft and drifts right. The action of generating the left yaw moment is opposite to the action of generating the right yaw moment.
The yaw control steering engine of the miniature aircraft which generates yaw control by using two yaw control steering engine control wings to deform is a rotary steering engine, the left rotary steering engine and the right rotary steering engine are respectively positioned below left and right wing side wing rods, and two rotary steering engine arms respectively drive the left and right wing side wing rods to swing back and forth. Take the required clockwise yaw moment of production right driftage as an example, left and right two driftage control steering wheel anticlockwise rotation the same angle simultaneously, drive left side flank pole and swing backward around wing root position, right side flank pole swings forward around wing root position, make the wing membrane tensioning when the left wing is clapped forward, the angle of attack reduces, the wing membrane relaxes when clapping backward, the angle of attack increases, make the clapped resistance after be greater than before clapping the resistance, form clockwise yaw moment on the left wing, also can produce the clockwise yaw moment of equidirectional on the right wing on the same reason, left and right wing clockwise yaw moment drive aircraft drifts right. The action of generating the left yaw moment is opposite to the action of generating the right yaw moment.
The invention has the advantages that:
(1) a bionic miniature flapping wing aircraft yaw control method and mechanism, invent the yaw and increase steady and maneuver control method and actuating mechanism;
(2) a bionic miniature flapping wing aircraft yaw control method and mechanism is a bionic control method, and provides conditions for the future invention of a real bionic mimicry miniature aircraft; the control method is set for the bionic micro aircraft to be used in a very narrow space, and can realize accurate yaw maneuvering in the narrow space;
(3) the control method is simple and easy to operate, and can carry out precise maneuvering control in a narrow space.
(4) A yaw control method and a yaw control mechanism of a bionic micro flapping wing aircraft can adopt two control schemes of a single steering engine and a double steering engine, particularly a scheme that one steering engine controls the left wing and the right wing simultaneously, so that the aircraft is smaller in size, lighter in weight of an execution part and lower in power consumption, and meets the requirements of the bionic micro flapping wing aircraft on small size and light weight.
Drawings
FIG. 1 is a block diagram of an implementation of a yaw attitude stability augmentation control method of a bionic micro flapping-wing aircraft;
FIG. 2 is a block diagram of an implementation of a yaw attitude maneuver control method of a bionic micro flapping-wing aircraft;
FIG. 3 is a bionic micro single-flapping-wing aircraft applying a single-steering-engine yaw attitude control method and mechanism of the bionic micro-flapping-wing aircraft;
FIG. 4 is a bionic micro single-flapping-wing aircraft applying a double-steering-engine yaw attitude control method and mechanism of the bionic micro-flapping-wing aircraft;
in the figure:
1-flapping wing 2-power system 3-transmission system
4-control system
101-wing membrane 102-side wing rod 201-motor
202-battery 401-rotary steering engine 402-rotary steering engine
403-rotary steering engine 404-flight control board
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
As shown in figure 1, when the aircraft needs to carry out deviation correction on a yaw angle in a balanced state, firstly, an accelerometer, a gyroscope and a magnetometer measure the yaw angular acceleration, the yaw angular velocity and the magnetic direction angle; then, the three measurement signals are used as input, an attitude resolving algorithm formed by complementary filtering and extended Kalman filtering is utilized to obtain a yaw attitude angle estimation value, and then the yaw attitude angle estimation value is compared with an aircraft yaw attitude angle instruction value to obtain a difference value; and calculating a yaw control execution command by applying a PID control algorithm to the yaw angle difference value, inputting the control execution command to a yaw control execution component, and controlling a steering engine of a yaw attitude to act to change the yaw attitude of the aircraft so as to restore the yaw attitude to a balance position.
As shown in FIG. 2, the invention relates to a method and a mechanism for controlling yaw of a bionic micro flapping wing aircraft, when the aircraft needs to control yaw in a small range, in order to drive the change of the yaw attitude of the aircraft to realize maneuvering control of yaw, firstly, an accelerometer, a gyroscope and a magnetometer are used for measuring the yaw acceleration, the yaw speed and the magnetic direction angle; then, the three measurement signals are used as input, an attitude resolving algorithm formed by complementary filtering and extended Kalman filtering is utilized to obtain a yaw attitude angle estimated value, then the yaw attitude angle estimated value is compared with an aircraft yaw attitude angle instruction value to obtain a difference value, and a required rudder deflection is calculated through a mixed control matrix; and finally, inputting the yaw rudder deflection control execution command to a yaw control execution component, controlling the yaw control execution mechanism to generate a yaw moment, and changing the yaw attitude of the aircraft in a small range to enable the yaw attitude to reach a command required position.
The following describes the application of the yaw control method and mechanism of the bionic micro flapping-wing aircraft to the bionic micro single flapping-wing aircraft by combining specific application examples.
Specific example 1:
as shown in figure 3, the bionic micro flapping wing aircraft applying the single steering engine yaw control method and mechanism of the bionic micro flapping wing aircraft comprises a flapping wing 1, a power system 2, a transmission mechanism 3 and a control system 4. The transmission mechanism 3 can drive the flapping wings 1 to do cyclic reciprocating flapping motion to generate lift force when the motor 201 runs. The control system 4 includes a rotary steering gear 403 arranged at the bottom of the wing bar 102 to effect a change in the aircraft yaw rudder. The rotary steering gear 403 is connected with the wing rods 102 on the left and right sides simultaneously through a rotary steering gear arm, and the battery 202 and the flight control panel 404 can be installed at any position of the fuselage according to the requirement of the center of gravity. Throughout the control process, attitude information of the aircraft is measured by sensors in flight control panel 404, with yaw acceleration information measured by accelerometers, yaw rate information measured by gyroscopes, and magnetic heading angle measured by magnetometers.
When the yaw attitude of the bionic micro flapping wing aircraft deviates from a balance state due to disturbance in the balance state, an accelerometer measures yaw angular acceleration, a gyroscope measures yaw angular velocity, a magnetometer measures magnetic direction angle, the yaw angular velocity is resolved through the attitude of the flight control panel 404 to obtain a yaw attitude angle estimated value, the yaw attitude angle estimated value is compared with the aircraft balance yaw attitude angle to obtain an error of the yaw attitude angle, PID control is applied to the error to obtain a yaw attitude angle control execution expectation, and the rudder deflection of a control mechanism 4 required for eliminating the yaw attitude angle error is calculated through a mixed control matrix, namely the rotation angle of the rotary steering engine 403. During yaw control, the rotary steering gear 403 rotates clockwise or counterclockwise to drive the left (or right) side wing rod 102 to swing backwards around the wing root position, the right (or left) side wing rod 102 to swing forwards around the wing root position, so that the wing membrane of the wing 1 at the left side (or right side) of the aircraft is tensioned when the aircraft is in forward flapping, the attack angle is reduced, the wing membrane of the wing 1 at the right side (or left side) is loosened, the attack angle is increased, the wing membrane of the wing 1 at the left side (or right side) is loosened, the attack angle is increased, the wing membrane of the wing 1 at the right side (or left side) is tensioned when the aircraft is in backward flapping, the attack angle is reduced, so that the back-flapping resistance of the left (or right) side wing 1 is larger than the front-flapping resistance, the back-flapping resistance of the right (or left) side wing 1 is smaller than the front-flapping resistance, and clockwise (or anticlockwise) yawing moments are formed on the wings at the left side and the right side, the aircraft is driven to yaw rightwards (or leftwards), yawing control is completed, and attitude correction is realized.
When the bionic micro flapping wing aircraft needs yaw maneuvering, yaw angular acceleration is measured by an accelerometer, yaw angular velocity is measured by a gyroscope, magnetic direction angle is measured by a magnetometer, the yaw attitude of the bionic micro flapping wing aircraft is resolved by the attitude of the flight control board 404 to obtain a yaw attitude angle estimation value of the current state, the yaw attitude angle estimation value is compared with the yaw attitude angle of the aircraft required by an instruction to obtain a difference value of the yaw attitude angle estimation value and the yaw attitude angle, and the rudder deflection of the control mechanism 4 required by the yaw attitude reaching the expected maneuvering position is calculated through a mixed control matrix, namely the rotation angle of the rotary steering engine 403. During yaw control, the rotary steering engine 403 rotates clockwise or counterclockwise to drive the left (or right) side wing rod 102 to swing backward around the wing root position, the right (or left) side wing rod 102 swings forward around the wing root position, so that the wing 1 membrane on the left (or right) side is tensioned during forward flapping of the aircraft, the attack angle is reduced, the wing 1 membrane on the right (or left) side is loosened, the attack angle is increased, the wing 1 membrane on the left (or right) side is loosened during backward flapping, the attack angle is increased, the wing 1 membrane on the right (or left) side is tensioned, the attack angle is reduced, so that the backward flapping resistance of the wing 1 on the left (or right) side is greater than the forward flapping resistance, the backward flapping resistance of the wing 1 on the right (or left) side is less than the forward flapping resistance, clockwise (or left) yaw moments are formed on the wings on the left and right sides, the aircraft is driven to yaw counterclockwise, and yaw control is realized.
Specific example 2:
as shown in FIG. 4, the bionic micro flapping wing aircraft applying the double-steering engine yaw control method and mechanism of the bionic micro flapping wing aircraft comprises a flapping wing 1, a power system 2, a transmission mechanism 3 and a control system 4. The transmission mechanism 3 can drive the flapping wings 1 to do cyclic reciprocating flapping motion to generate lift force when the motor 201 runs. The control system 4 comprises a rotary steering engine 401 and a rotary steering engine 402 arranged at the bottom of the wing bar 102 to effect a change in the aircraft yaw rudder. The rotary steering engine 401 and the rotary steering engine 402 are respectively connected with the bottoms of the wing rods 102 on the left side and the right side through rotary steering engine arms, and the battery 202 and the flight control board 404 can be installed at any position of the airplane body according to the requirement of the center of gravity. Throughout the control process, attitude information of the aircraft is measured by sensors in flight control panel 404, with yaw acceleration information measured by accelerometers, yaw rate information measured by gyroscopes, and magnetic heading angle measured by magnetometers.
When the yaw attitude of the bionic micro flapping wing aircraft deviates from a balance state due to disturbance in the balance state, an accelerometer measures yaw angular acceleration, a gyroscope measures yaw angular velocity, a magnetometer measures magnetic direction angle, the yaw angular velocity is resolved through the attitude of a flight control plate 404 to obtain a yaw attitude angle estimated value, the yaw attitude angle estimated value is compared with the aircraft balance yaw attitude angle to obtain an error of the yaw attitude angle, PID control is applied to the error to obtain a yaw attitude angle control execution expectation, and the rudder deflection of a control mechanism 4 required for eliminating the yaw attitude angle error is calculated through a mixed control matrix, namely the rotation angles of a rotary steering engine 401 and the rotary steering engine 402. During yaw control, when the motor 201 runs, the flapping wings 1 are driven to do cyclic reciprocating flapping motion to generate lift force, the left rotary steering engine 401 and the right rotary steering engine 402 rotate clockwise or anticlockwise at the same angle at the same time to drive the left side (or right side) wing rod 102 to swing backwards around the wing root position, the right side (or left side) wing rod 102 swings forwards around the wing root position, so that the wing membrane of the wing 1 on the left side (or right side) is tensioned when the aircraft is in forward flapping, the attack angle is reduced, the wing membrane of the wing 1 on the right side (or left side) is loosened, the attack angle is increased, the wing membrane of the wing 1 on the right side (or left side) is tensioned, the attack angle is reduced, so that the backward flapping resistance of the wing 1 on the left side (or right side) is greater than the forward flapping resistance, the backward resistance of the wing 1 on the right side (or left side) is less than the forward flapping resistance, and the clockwise (or anticlockwise yawing moment is formed on the wings on the left and right sides, and the aircraft is driven to yaw rightwards (or leftwards), so that yaw control is completed, and attitude correction is realized.
When the bionic micro flapping wing aircraft needs yaw maneuvering, yaw angular acceleration is measured by an accelerometer, yaw angular velocity is measured by a gyroscope, magnetic direction angle is measured by a magnetometer, the yaw attitude of the bionic micro flapping wing aircraft is resolved by the attitude of the flight control plate 404 to obtain a yaw attitude angle estimation value of the current state, the yaw attitude angle estimation value is compared with the yaw attitude angle of the aircraft required by an instruction to obtain a difference value of the yaw attitude angle estimation value and the yaw attitude angle, and rudder deflection of a control mechanism 4 required by the yaw attitude reaching an expected maneuvering position is calculated through a mixed control matrix, namely the rotation angle of the rotary steering engine 401 and the rotary steering engine 402. During yaw control, the left rotary steering engine 401 and the right rotary steering engine 402 rotate clockwise or counterclockwise at the same time by the same angle to drive the left (or right) side wing rod 102 to swing backwards around the wing root position, the right (or left) side wing rod 102 swings forwards around the wing root position, so that when the aircraft is in forward flapping, the wing membrane of the wing 1 on the left (or right) side is tensioned, the attack angle is reduced, the wing membrane of the wing 1 on the right (or left) side is loosened, the attack angle is increased, the wing membrane of the wing 1 on the left (or right) side is loosened, the attack angle is increased, the wing membrane of the wing 1 on the right (or left) side is tensioned, the attack angle is reduced, so that the flap resistance of the wing 1 on the left (or right) side is greater than the flap resistance, the flap resistance of the wing 1 on the right (or left) side is less than the flap resistance, clockwise (or counterclockwise) yaw moment is formed on the wings on the left and right sides, and the aircraft is, and realizing yaw maneuvering control.
Claims (7)
1. A yaw control method and a yaw control mechanism of a bionic micro flapping wing aircraft are characterized in that when deviation correction is needed to be carried out on a yaw angle of the aircraft in a balanced state, and accurate suspension of the aircraft is guaranteed, the method comprises the following steps:
(1) resolving a yaw attitude angle: obtaining an estimated value of the current yaw attitude angle of the aircraft by resolving the yaw attitude angle;
(2) obtaining a yaw control execution command: calculating the difference value between the yaw attitude angle estimation value and the yaw attitude angle instruction value as a yaw attitude angle difference value; calculating by adopting a PID control algorithm to obtain a yaw control execution instruction according to the yaw attitude angle difference value;
(3) generating a yaw moment: and inputting the yaw control execution command to a yaw control execution component, wherein the yaw control execution component is controlled to generate a yaw moment, and the yaw attitude of the aircraft is changed to restore the yaw attitude to a balance position.
2. The method and the mechanism for controlling the yaw of the bionic micro ornithopter as claimed in claim 1, wherein when the yaw attitude of the bionic micro ornithopter is required to be changed in a small range, namely, yaw precise maneuvering is carried out, the method comprises the following steps:
(1) firstly, realizing accurate hovering, controlling the yaw angle to be at a desired value, inputting a yaw instruction to be zero at the moment, carrying out yaw stability augmentation control on the aircraft to keep the aircraft at a desired balance position in a narrow space, and carrying out yaw maneuvering control at the next moment on the basis;
(2) resolving a yaw attitude angle: obtaining an estimated value of the current yaw attitude angle of the aircraft by resolving the yaw attitude angle;
(3) obtaining a yaw control execution command: calculating the difference value between the yaw attitude angle estimation value and the yaw attitude angle instruction value as a yaw attitude angle difference value; performing mixed control matrix calculation according to the yaw attitude angle difference to obtain a yaw rudder deflection control execution instruction;
(4) yaw moment generation: inputting the yaw rudder deflection control execution command to a yaw control execution component; the yaw control actuating mechanism component is controlled to generate a yaw moment, and the yaw attitude of the aircraft is changed in a small range, so that the yaw attitude reaches a command required position.
3. The bionic micro flapping wing air vehicle yaw control method and mechanism of claim 1 or 2, wherein the resolving the yaw attitude angle comprises the following steps:
(1) respectively measuring yaw angular acceleration, yaw angular velocity and magnetic direction angle by an accelerometer, a gyroscope and a magnetometer;
(2) and taking the measured yaw angular acceleration, yaw angular velocity and magnetic direction angle as input, and obtaining the yaw attitude angle estimation value by adopting an attitude calculation algorithm consisting of complementary filtering and extended Kalman filtering.
4. The method and the mechanism for controlling the yaw of the bionic micro flapping wing air vehicle as claimed in claim 1, wherein the step of obtaining the yaw control execution command based on the PID control algorithm comprises the following two steps:
(1) calculating the difference value between the yaw attitude angle estimated value and the aircraft yaw attitude angle instruction value as the yaw attitude angle difference value;
(2) calculating by adopting a PID control algorithm to obtain a yaw attitude angle control execution expectation according to the yaw attitude angle difference; and calculating the yaw rudder deflection required for eliminating the yaw attitude angle deviation value by adopting a mixed control matrix according to the yaw attitude angle control execution expectation to obtain a yaw rudder deflection control execution instruction.
5. A bionic micro flapping wing air vehicle applying the yaw control method and the mechanism of the bionic micro flapping wing air vehicle as claimed in any one of claims 1 to 4, comprising a machine body, a yaw control steering engine, a left side wing and a right side wing which are symmetrically distributed on the two sides of the machine body, wherein the left side wing and the right side wing both comprise wing rods and wing membranes, the wing rods comprise front edge wing rods and side wing rods, the upper edges and the side edges of the wing membranes are vertical, and the lower edges are in an arc shape; the front edge wing rod is connected with the upper edge of the wing membrane, and the side wing rod is connected with the side edge of the wing membrane; the yaw control steering engine is positioned below the lateral wing rods;
when a right yaw moment is needed, the yaw control steering engine drives the lateral wing rod of the left lateral wing to swing backwards around the wing root position through the steering engine arm on the yaw control steering engine, and the lateral wing rod of the right lateral wing swings forwards around the wing root position, so that the wing membrane of the left lateral wing is tensioned during forward flapping, the attack angle is reduced, the wing membrane of the right lateral wing is loosened, and the attack angle is increased; when the left flank is shot backwards, the wing membrane of the left flank is loosened, the attack angle is increased, the wing membrane of the right flank is tensioned, and the attack angle is reduced, so that the back-shooting resistance of the left flank is greater than the front-shooting resistance, and the back-shooting resistance of the right flank is smaller than the front-shooting resistance, thereby forming a right yawing moment;
when a left yaw moment is needed, the yaw control steering engine drives the lateral wing rod of the right lateral wing to swing backwards around the wing root position through the steering engine arm on the yaw control steering engine, and the lateral wing rod of the left lateral wing swings forwards around the wing root position, so that the wing membrane of the right lateral wing is tensioned during forward flapping, the attack angle is reduced, the wing membrane of the left lateral wing is loosened, and the attack angle is increased; when the left flank is patted backwards, the wing membrane of the right flank is relaxed, the attack angle is increased, the wing membrane of the left flank is tensioned, and the attack angle is reduced, so that the back-patting resistance of the right flank is greater than the front-patting resistance, and the back-patting resistance of the left flank is smaller than the front-patting resistance, thereby forming a left yawing moment.
6. The bionic micro ornithopter as claimed in claim 5, wherein the yaw control steering engine is located at the center of the bottom connecting line of the side wing rods of the left side wing and the right side wing, and the rotary steering engine arm of the single yaw control steering engine drives the side wing rods of the left side wing and the right side wing to swing back and forth at the same time to form a yaw moment to the right or left.
7. The bionic micro flapping wing air vehicle of claim 5, wherein the yaw control steering engine comprises a left rotating steering engine and a right rotating steering engine which are respectively positioned below the lateral wing rods of the left lateral wing and the right lateral wing, and the rotating rudder arms of the two rotating steering engines respectively drive the lateral wing rods of the left lateral wing and the right lateral wing to swing back and forth to form a yaw moment to the right or the left.
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