CN112278267B - Bionic flapping wing aircraft and control method thereof - Google Patents
Bionic flapping wing aircraft and control method thereof Download PDFInfo
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- CN112278267B CN112278267B CN202011170335.XA CN202011170335A CN112278267B CN 112278267 B CN112278267 B CN 112278267B CN 202011170335 A CN202011170335 A CN 202011170335A CN 112278267 B CN112278267 B CN 112278267B
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Abstract
The invention discloses a bionic flapping wing aircraft and a control method thereof. The chest structure in the bionic flapping wing aircraft comprises a chest main carbon fiber rod, a first driving steering engine and a second driving steering engine; the top end of the chest main carbon fiber rod is provided with a first driving steering engine and a second driving steering engine; the first driving steering engine is connected with the left wing; the second driving steering engine is connected with the right wing; the belly structure comprises a belly carbon fiber rod and a third driving steering engine; the third driving steering engine is arranged at the tail end of the chest main carbon fiber rod; the top end of the abdominal carbon fiber rod is fixed with a third driving steering engine; the micro-control system is arranged at the tail end of the abdominal carbon fiber rod; the micro-control system is used for controlling the first driving steering engine, the second driving steering engine and the third driving steering engine so as to drive the left wing and the right wing to do beating motion in a cosine law and drive the abdominal carbon fiber rod to do swinging motion which is the same in frequency and opposite in phase to the beating motion in the cosine law. The invention can improve the maneuverability and stability of flight.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic flapping wing aircraft and a control method thereof.
Background
The flapping wing air vehicle has unique advantages, has wide application prospect in the fields of national defense and civil use, and the research on the flapping wing air vehicle becomes a hotspot of the research in the field of current aviation. The real face yarn of the flapping wing flight mode is not disclosed in the early stage due to the limitations of people on the understanding of the flapping wing flight mode and the limitations of the technological level at that time. Ancient people tried to make wings from various materials and hoped that the wings could fly with birds totally depending on human physical strength. A manpower ornithopter is designed for Dafengqi in the European literature reviving period. Attempts to accomplish a flight by simply vibrating the wings, desirably by human force, have failed, however. Later people put the research focus on fixed wing aircrafts and rotor aircrafts, and the wind-driven generator has achieved inexhaustible achievement and successfully realizes the dream of soaring the blue sky.
With the research on bionic flight and the development of the aerodynamic technical theory, the traditional aircraft such as a fixed wing and a rotor wing cannot meet various task requirements of human beings. When flying under the condition of low Reynolds number, people find that the flapping wing flying mode has many advantages compared with other flying modes along with the reduction of the size of the aircraft, and has the characteristics of stronger anti-jamming capability, low speed and high maneuverability, and the like. The control of the flapping wing aircraft on take-off, climbing, hovering and landing is integrated, the flapping wing aircraft has extremely high flexibility and stability, and the flight efficiency is relatively high. Meanwhile, the aircraft has strong environment adaptability, can take off in situ in any place and any posture or even no initial speed, and is simple to recover and land. In addition, the flapping wing aircraft is generally small in size, some wings can be folded, a takeoff assisting and recovering device is not needed, and the flapping wing aircraft is convenient to carry. Therefore, the flapping wing aircraft has good application prospects in the future military, such as reconnaissance military information, target tracking and monitoring, sample sampling in dangerous situations such as nuclear biochemistry and the like, relay communication, active attack or defense, difficulty in being hit due to complex flight trajectory and benefit for escape and the like. In the civil field, besides the tasks which can be realized by the traditional layout aircraft such as photography, mapping and monitoring, the bird scarer can also be applied to bird scaring work in airport airspace: the bionic flying characteristic of the bird repelling device is utilized to simulate the hawk to circle around an airport to achieve the aim of repelling birds, and the bird repelling device can be provided with audio equipment to simulate the sound of the hawk while flying, so that the bird repelling efficiency is improved.
Common bionic flapping wing aircraft include: the bird-like flapping wing aircraft and the insect-like flapping wing aircraft have the advantages that the bird-like flapping wing aircraft is large in size and high in aerodynamic noise generally, and the insect-like flapping wing aircraft is small in size and has certain concealment performance, but due to the problems that the effective load of the insect-like flapping wing aircraft is too low, the practical value of the insect-like flapping wing aircraft needs to be improved. At present, most of trunks of bionic flapping wing aircrafts at home and abroad are single rigid structures or straight rod structures, the bodies of the bionic flapping wing aircrafts are approximately fixed and fixed in the flying process, only flapping motions of double wings and deflection of control surfaces exist, and the bionic flapping wing aircraft has a larger difference with the flight control mode of actual flapping wing flying organisms. Therefore, the flight mobility and stability of the current bionic flapping wing aircraft need to be improved.
Disclosure of Invention
Therefore, the bionic flapping wing aircraft and the control method thereof are needed to improve the maneuverability and stability of flight.
In order to achieve the purpose, the invention provides the following scheme:
a bionic ornithopter comprising: a chest structure, an abdomen structure, a left wing, a right wing and a micro-control system; the left wing is arranged on one side of the chest structure; the right wing is arranged on the other side of the chest structure; the tail end of the chest structure is provided with the abdomen structure;
the chest structure comprises a chest main carbon fiber rod, a first driving steering engine and a second driving steering engine; the first driving steering engine and the second driving steering engine are arranged at the top end of the chest main carbon fiber rod; the first driving steering engine is connected with the left wing; the second driving steering engine is connected with the right wing;
the belly structure comprises a belly carbon fiber rod and a third driving steering engine; the third driving steering engine is arranged at the tail end of the chest main carbon fiber rod; the top end of the abdominal carbon fiber rod is fixed with the third driving steering engine;
the micro-control system is arranged at the tail end of the abdominal carbon fiber rod; the micro-control system is electrically connected with the first driving steering engine, the second driving steering engine and the third driving steering engine; the micro-control system is used for controlling the first driving steering engine and the second driving steering engine to drive the left wing and the right wing to do beating motion according to the cosine law, and controlling the third driving steering engine to drive the abdominal carbon fiber rod to do swinging motion; the swinging motion and the beating motion of the cosine law have the same frequency and opposite phase.
Optionally, the chest structure further comprises: the wing power mechanism connecting assembly, the left wing root connecting piece, the right wing root connecting piece and the back wing hinge connecting piece are arranged on the left wing base;
the first driving steering engine and the second driving steering engine are both arranged at the top end of the chest main carbon fiber rod through the wing power mechanism connecting component; the first driving steering engine is connected with the left wing through the left wing root connecting piece; the second driving steering engine is connected with the right wing through the right wing root connecting piece; the back wing hinge connecting piece is sleeved on the chest main carbon fiber rod; one end of the back wing hinge connecting piece is hinged with the left wing; the other end of the back wing hinge connecting piece is hinged with the right wing.
Optionally, the chest structure further comprises: the two wings drive the rocker arms of the steering engine;
the first driving steering engine is connected with the left wing root connecting piece through a wing driving steering engine rocker arm; and the second driving steering engine is connected with the right wing root connecting piece through the other wing driving steering engine rocker arm.
Optionally, the abdominal structure further comprises: the abdomen power mechanism connecting assembly, the abdomen connecting mechanism and the micro-control system fixing assembly are arranged on the abdomen power mechanism;
the third driving steering engine is arranged at the tail end of the chest main carbon fiber rod through the abdomen power mechanism connecting assembly; the abdomen connecting mechanism is fixed on the third driving steering engine; the top end of the belly carbon fiber rod is inserted into the belly connection mechanism; the micro-control system is arranged at the tail end of the abdominal carbon fiber rod through the micro-control system fixing component.
Optionally, the micro-control system includes a zigbee control chip;
and the zigbee control chip is electrically connected with the first driving steering engine, the second driving steering engine and the third driving steering engine respectively.
Optionally, the micro-control system further includes an electronic gyroscope and a power supply; the electronic gyroscope and the power supply are electrically connected with the zigbee control chip; the electronic gyroscope is used for acquiring current attitude information.
Optionally, a central hub mode generator is built in the zigbee control chip.
Optionally, the wing power mechanism connecting assembly is formed by printing in a 3D printing mode.
The invention also provides a control method of the bionic ornithopter, which is used for the bionic ornithopter; the control method comprises the following steps:
based on the current attitude information, a central mode generator is adopted to control a kinematics control model to generate a cosine law beating control pulse signal and a swing motion control pulse signal, so that attitude adjustment is realized; the cosine law flapping control pulse signal is used for controlling a first driving steering engine and a second driving steering engine to drive a left wing and a right wing to do cosine law flapping motion; the swing motion control pulse signal is used for controlling a third driving steering engine to drive the abdominal carbon fiber rod to swing.
Optionally, the kinematics control model is:
wherein the content of the first and second substances,
an asymmetric cosine function for controlling flapping of the left wing;
an asymmetric cosine function for controlling right wing flapping; thetaa(t) is a control cosine function of the abdominal carbon fiber rod swing; omega is the beating angular speed under biological observation; omega-omega0[1-Psin(ω0·t)](ii) a P is an asymmetry factor;
ω0the double-wing flapping angular velocity of uniform rigid flapping; omega 02 pi f; t is time; f is the flapping frequency of the double wings; gamma is the phase difference between the flapping of the double wings and the swinging of the abdominal carbon fiber rod;
the amplitude of the flapping of the left wing;
the amplitude of the right wing flapping;
the balance position of the flapping of the left wing;
the balance position of the flapping of the right wing; a. theaAmplitude of oscillation of the carbon fibre rod of the abdomen, C0Is the balance position of the swinging of the abdominal carbon fiber rod.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a bionic flapping wing aircraft and a control method thereof. The bionic flapping wing aircraft comprises a chest structure, an abdomen structure, a left wing, a right wing and a micro-control system; the chest structure comprises a chest main carbon fiber rod, a first driving steering engine and a second driving steering engine; the belly structure comprises a belly carbon fiber rod and a third driving steering engine; the micro-control system is arranged at the tail end of the abdominal carbon fiber rod; the micro-control system is used for controlling the first driving steering engine, the second driving steering engine and the third driving steering engine so as to drive the left wing and the right wing to do beating motion in a cosine law and drive the abdominal carbon fiber rod to do swinging motion which is the same in frequency and opposite in phase to the beating motion in the cosine law. According to the invention, flapping of double wings of the flapping wing aircraft according to a common cosine law and an asymmetric cosine law can be realized, the butterfly trunk structure is decomposed into two main carbon fiber rods of a chest structure and an abdomen structure, and the two main carbon fiber rods are connected through the third driving steering engine, so that the abdomen structure is separated from the main trunk and has a rotational degree of freedom, active swinging motion with the same frequency and opposite phase with the flapping motion of the double wings can be completed in the flight process, and the maneuverability and the stability of the flight are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a block diagram of a bionic flapping wing aircraft provided by an embodiment of the invention;
FIG. 2 is a block diagram of a torso portion formed of a thorax structure and an abdomen structure provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a motion attitude of a bionic ornithopter at a certain moment according to an embodiment of the invention;
FIG. 4 is a block diagram of a left fin root connector according to an embodiment of the present invention;
FIG. 5 is a block diagram of a fin hinge connection provided by an embodiment of the present invention;
FIG. 6 is a structural diagram of a swing arm of a wing-driven steering engine provided in an embodiment of the present invention;
fig. 7 is a structural diagram of an abdominal power mechanism connection assembly according to an embodiment of the present invention;
FIG. 8 is a block diagram of an abdominal connection mechanism provided in accordance with an embodiment of the present invention;
FIG. 9 is a block diagram of a micro control system fixing component according to an embodiment of the present invention;
FIG. 10 is a block diagram of a steering engine and its fixing components according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a controller of the central pattern generator according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a structural diagram of a bionic flapping wing aircraft provided by an embodiment of the invention. Referring to fig. 1, the bionic flapping-wing aircraft of the present embodiment is a bionic butterfly flapping-wing aircraft with abdomen active swing and double-wing asymmetric cosine flapping control. The embodiment takes a real butterfly as a bionics prototype, and provides a novel trunk control system design of a bionic butterfly aircraft by simulating the appearance and motion mechanism of a lepidoptera butterfly which is an insect with a large wing body in nature, and improves the maneuverability and stability of flight by swinging the belly.
This bionical flapping wing aircraft includes: a chest structure 1, an abdomen structure 4, a left wing 2, a right wing 3 and a micro-control system 109; the left wing 2 is arranged on one side of the chest structure 1; the right wing 3 is arranged on the other side of the chest structure 1; the end of the thorax structure 1 is provided with the abdomen structure 4. The chest structure 1 and the abdomen structure 4 are made as the butterfly trunk parts.
As shown in fig. 2 and 3, the chest structure 1 comprises a chest main carbon fiber rod 103, a first driving steering engine and a second driving steering engine 102; the top end of the chest main carbon fiber rod 103 is provided with the first driving steering engine and the second driving steering engine 102; the first driving steering engine is connected with the left wing 2; the second driving steering engine 102 is connected with the right wing 3. The chest main carbon fiber rod 103 is a hollow square tube.
The belly structure 4 comprises a belly carbon fiber rod 107 and a third driving steering engine 105; the third driving steering engine 105 is arranged at the tail end of the chest main carbon fiber rod 103; the top end of the belly carbon fiber rod 107 is fixed with the third driving steering engine 105. The abdomen carbon fiber rod 107 is a hollow square tube.
The micro-control system 109 is arranged at the tail end of the abdominal carbon fiber rod 107; the micro control system 109 is electrically connected with the first driving steering engine, the second driving steering engine 102 and the third driving steering engine 105; the micro control system 109 is used for controlling the first driving steering engine and the second driving steering engine 102 to drive the left wing and the right wing to do a flapping motion with a cosine law, and controlling the third driving steering engine 105 to drive the abdominal carbon fiber rod 107 to do a swinging motion; the swinging motion and the flapping motion of the cosine law have the same frequency and opposite phase, so that the longitudinal stability in the flying process is improved by increasing the degree of freedom, and the controllability of the flying is improved. Specifically, the first driving steering engine and the second driving steering engine are controlled by the adjustable PWM waves to output the flapping motion similar to the symmetric or asymmetric cosine law of the natural butterfly flapping wings.
As an alternative embodiment, the breast structure 1 further comprises: wing power unit coupling assembling 101, left wing root connecting piece 111, right wing root connecting piece, back wing hinge connection 110 and two wing drive steering wheel rocking arms.
The first driving steering engine and the second driving steering engine 102 are both arranged at the top end of the chest main carbon fiber rod 103 through the wing power mechanism connecting assembly 101; the first driving steering engine is connected with the left wing 2 through the left wing root connecting piece 111; the second driving steering engine 102 is connected with the right wing 3 through the right wing root connecting piece; the rear wing hinge connecting piece 110 is sleeved on the chest main carbon fiber rod 103; one end of the back wing hinge connecting piece 110 is hinged with the left wing 2; the other end of the back wing hinge connecting piece 110 is hinged with the right wing 3. Specifically, the left wing root connecting piece 111 is connected with the carbon fiber rod framework on the left wing 2 and is set to be in tight fit, the right wing root connecting piece is connected with the carbon fiber rod framework on the right wing 3 and is set to be in tight fit, so that the wings and the trunk are fixedly connected, and the structure diagram of the left wing root connecting piece is shown in fig. 4. The middle part of the back wing hinge connecting piece 110 is provided with a square hole which is tightly matched with the main chest carbon fiber rod 103, meanwhile, the two ends of the back wing hinge connecting piece 110 are provided with semi-open round holes which can be in hinge connection with the carbon fiber rods on the inner side of the back wing, and the structure diagram of the back wing hinge connecting piece is shown in fig. 5.
The first driving steering engine is connected with the left wing root connecting piece 111 through a wing driving steering engine rocker arm; the second driving steering engine 102 is connected with the right wing root connecting piece through another wing driving steering engine rocker arm 112. Specifically, the metal teeth of the first driving steering engine and the second driving steering engine 102 are tightly matched with the corresponding connecting holes of the rocker arms of the wing driving steering engines and are fastened through screws. The structure diagram of the wing-driven steering engine rocker arm is shown in fig. 6.
The wing power mechanism connecting assembly 101, the abdomen power mechanism connecting assembly 104, the abdomen connecting mechanism 106 and the micro-control system fixing assembly 108 are all made of PLA materials and are manufactured in a 3D printing mode.
As an alternative embodiment, the abdominal structure 4 further comprises: a abdominal power mechanism connection assembly 104, an abdominal connection mechanism 106, and a micro-control system fixation assembly 108. Thus, the butterfly trunk part is divided into a chest structure 1 and an abdomen structure 4, and the middle of the butterfly trunk part is connected with an abdomen connecting mechanism 106 through an abdomen power mechanism connecting component 104, a third driving steering engine 105, so that a single-degree-of-freedom hinge joint is formed. The abdominal power mechanism connection assembly is shown in fig. 7, the abdominal connection mechanism is shown in fig. 8, and the micro-control system fixation assembly is shown in fig. 9.
The third driving steering engine 105 is arranged at the tail end of the chest main carbon fiber rod 103 through the abdomen power mechanism connecting assembly 104; the abdomen connecting mechanism 106 is fixed on the third driving steering engine 105; the tip of the belly carbon fiber rod 107 is inserted into the belly connection mechanism 106; the micro-control system 109 is arranged at the end of the abdominal carbon fiber rod 107 by means of the micro-control system fixation assembly 108. Specifically, the tail end of the chest main carbon fiber rod 103 penetrates through a square hole of the abdomen power mechanism connecting assembly 104 and is fixed through 502 glue, and the third driving steering engine 105 is fixed on the abdomen power mechanism connecting assembly 104 through a screw. The top end of the abdomen carbon fiber rod 107 is inserted into a square hole of the abdomen connecting mechanism 106, the abdomen connecting mechanism 106 is provided with an assembling hole matched with a metal tooth of the third driving steering engine 105, the abdomen connecting mechanism 106 is fixed on the metal tooth of the third driving steering engine 105 through a screw, the tail end of the abdomen carbon fiber rod 107 penetrates through the square hole of the micro-control system fixing component 108, 502 glue adhesion can be used after the position is determined, the micro-control system fixing component 108 is provided with an opening clamping groove, the micro-control system 109 is fixed inside through foam glue, and the part formed by the micro-control system fixing component 108 and the micro-control system 109 can be used for adjusting the gravity center of an aircraft. Main carbon fiber pole 103 in chest is located the aircraft front end, and the top passes through wing power unit coupling assembling 101 and first drive steering wheel, second driving motor and links to each other, and the end inserts in the square hole of belly power unit coupling assembling 104, and the tensile boss in both sides is provided with the mounting hole, and third drive steering wheel 105 is fixed through two mounting holes and upper reaches structure. The upper end of the abdominal carbon fiber tube is fixed on an abdominal connecting mechanism 106 on a third steering engine, and the tail end of the abdominal carbon fiber tube is fixed through a micro-control system fixing component 108 and a micro-control system 109.
The first drive steering engine, the second drive steering engine 102 and the third drive steering engine 105 are fixed in a similar manner. The steering engine and the steering engine fixing component comprise a steering engine 201, a rocker arm 202, a rocker arm blind hole 203 and a steering engine fixing hole 204, and the positional relationship is shown in fig. 10.
As an alternative embodiment, the micro-control system 109 includes a zigbee control chip, an electronic gyroscope, and a power supply; the zigbee control chip is electrically connected with the first driving steering engine, the second driving steering engine 102, the third driving steering engine 105, the electronic gyroscope and the power supply respectively. The electronic gyroscope is used for acquiring current attitude information. A Central Pattern Generator (CPG) is arranged in the zigbee control chip. The power supply may be a 7.4V miniature lithium battery for providing aircraft energy and swing weights. The lithium battery can be fixed through the PVC heat shrink tube. The front surface of the micro-control system 109 is integrated with a zigbee control chip and an electronic gyroscope, and the back surface is provided with a lithium battery base, so that the lithium battery can be conveniently mounted and dismounted.
The bionic butterfly flapping wing aircraft adopts remote control, a zigbee control chip is used as a controller and a signal receiver and forms a local area network with an upper mechanism, the current attitude information fed back by an electronic gyroscope is utilized, the control chip utilizes an active disturbance rejection algorithm based on a model to realize self attitude balance, and meanwhile, the upper computer can send a command to change the initial and final phases of the wings of the bionic butterfly flapping wing aircraft to realize the change of the flying state of the butterfly.
In the control algorithm part, the flight process is decoupled into a double-wing flapping channel and an abdomen swinging channel, the attitude transformation output under measurable abdomen swinging input is measured under the condition that the double-wing flapping channel is kept constant, a corresponding mathematical model (a kinematics control model) is obtained, and then the control method based on the bionic CPG central mode generator is used for controlling the mathematical model.
The bionic butterfly flapping wing aircraft drives the wings to output symmetrical or asymmetrical cosine law flapping motion by controlling the steering engine, adjusts the chest pitching motion by matching with the abdominal swinging, converts the chest pitching motion into the thrust and the lift force of the flight, and simultaneously can instantaneously and independently control the starting phase and the ending phase of the double-wing flapping, thereby realizing the posture adjustment of a butterfly, such as pitching and yawing, and further realizing the stable and controllable flight of the bionic butterfly flapping wing aircraft.
The bionic flapping wing aircraft in the embodiment has the following advantages:
1. the belly initiative swing mechanism is added, so that the attitude control quantity of the butterfly flapping wing aircraft is increased.
2. The flapping-wing aircraft can better accord with the flying state of the natural butterfly by matching the swinging of the abdomen with the flapping motion of the wings, and the effective longitudinal motion control can be realized.
3. The control of the swinging of the abdomen can realize the dynamic control of the attitude of the butterfly in the flying state.
4. The frequency and the phase of the abdomen swing are strictly controllable, the abdomen swing and the double-wing flapping are in the same frequency and opposite phase in the flying process, and the flying stability can be greatly improved.
5. The control method based on the bionic CPG central pattern generator can reliably carry out quantitative control on the flight attitude in flight, and the stability of the control method is improved.
The invention also provides a control method of the bionic ornithopter, which is used for the bionic ornithopter in the embodiment; the control method comprises the following steps:
based on the current attitude information, a central mode generator is adopted to control a kinematics control model to generate a cosine law beating control pulse signal and a swing motion control pulse signal, so that attitude adjustment is realized; the cosine law flapping control pulse signal is used for controlling the first driving steering engine and the second driving steering engine 102 to drive the left wing and the right wing to do cosine law flapping motion; the swing motion control pulse signal is used for controlling a third driving steering engine 105 to drive the abdominal carbon fiber rod 107 to swing.
The derivation process of the kinematics control model is as follows:
first, the kinematics control law of cosine flapping and abdominal swing is
The kinematics law of the driving output angles of 3 driving steering engines in front flying of a general butterfly flapping wing imitating aircraft is as follows:
secondly, biological observation shows that certain difference exists between the actual butterfly flight and a constant-speed rigid flapping model which is generally simplified into standard sine and cosine motions, and the motion time of the upper flapping and the lower flapping of the butterfly is different.
Therefore, the invention introduces an asymmetric cosine flapping control motion rule, defines an asymmetric factor P (-1 < P < 1) to represent the asymmetric degree of the asymmetric cosine wave, and uses omega to omega0[1-Psin(ω0·t)]Replacing the angular velocity constant ω in the original model0. So that the tapping rate is no longer constant but varies over time, but the average tapping rate
And is not changed. The time ratio of the upper flapping and the lower flapping is controlled by taking different P values, and the time ratio is defined as
Wherein t isUSIs the upper flapping time, t, of a flapping cycleDSIs the down-stroke time in a stroke cycle. When P is a positive number, the flapping angular speed is firstly reduced and then increased, wherein k is less than 1, and is consistent with the law that the butterfly wings flap slowly and quickly; on the contrary, when P is negative, kappa is more than 1; when P is 0, κ is 1. Finally, obtaining the asymmetric factor of the double-wing flapping in the butterfly flapping wing flight through biological observation:
the actual bionic butterfly ornithopter will apply this result。
Finally, determining the kinematic control model as:
wherein the content of the first and second substances,
an asymmetric cosine function for controlling flapping of the left wing;
an asymmetric cosine function for controlling right wing flapping; thetaa(t) is a control cosine function of the abdominal carbon fiber rod swing; omega is the beating angular speed under biological observation; omega-omega0[1-Psin(ω0·t)](ii) a P is an asymmetry factor;
ω0the double-wing flapping angular velocity of uniform rigid flapping; omega 02 pi f; t is time; f is the flapping frequency of the double wings; gamma is the phase difference between the double-wing flapping and the swinging of the abdominal carbon fiber rod, the phase difference is close to pi through biological observation, the abdominal swinging is active control movement, a certain adjusting effect on the pitching movement of the chest is achieved, and the gamma in the bionic butterfly flapping wing aircraft controller takes pi;
the amplitude of the flapping of the left wing;
the amplitude of the right wing flapping;
a balance position (middle position) for flapping the left wing;
a balance position (middle position) for right wing flapping; a. theaAmplitude of oscillation of the carbon fibre rod of the abdomen, C0The equilibrium position (neutral position) for the belly carbon fiber rod to swing.
According to the embodiment, a flight process is decoupled into a left wing flapping channel, a right wing flapping channel and an abdomen swinging channel, under the condition that a control signal of a double wing flapping channel is determined, a corresponding pulse control signal is generated based on a central mode generator by setting a phase difference between an abdomen active swinging motion and a flapping motion to be pi, and the abdomen movement is controlled in real time by a wireless communication control unit so as to realize the posture adjustment of the flapping wing aircraft in the longitudinal direction.
As shown in fig. 11, the control method of the central pattern generator is specifically as follows:
the bionic Central Pattern Generator (CPG) is used as a relative bottom layer controller, and has obvious advantages in the aspects of multi-path and time-varying pulse signal generation and stable output. In the CPG control algorithm, an asymptotically stable periodic convergence trajectory is assumed to exist on the phase plane of the control system state. The final state of the control system will converge to a stable limit cycle regardless of whether the initial value of the system state is on the phase plane. The phenomenon is expressed as a turbulent flow characteristic in a differential equation, and through researching rhythmic activities existing in a biological neural network, a designed CPG controller outputs stable 3 paths of pulse signals to control the motion rhythm of a left wing driving steering engine, a right wing driving steering engine and an abdominal swinging control steering engine, so that the motion posture of the bionic ornithopter can be effectively adjusted, and the stable flight state of the bionic ornithopter is ensured.
According to the control method of the bionic flapping-wing aircraft, the CPG controller can output stable and accurate periodic pulse control signals in the flying process, cosine or asymmetric cosine flapping motion of double wings is achieved, meanwhile, the steering engine can be used for controlling the abdomen structure 4 to swing actively, the swinging of the abdomen structure 4 and the flapping of the double wings are in the same frequency and opposite phase, and the flying stability of the aircraft can be improved to a certain extent.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A bionic flapping-wing aircraft, comprising: a chest structure, an abdomen structure, a left wing, a right wing and a micro-control system; the left wing is arranged on one side of the chest structure; the right wing is arranged on the other side of the chest structure; the tail end of the chest structure is provided with the abdomen structure;
the chest structure comprises a chest main carbon fiber rod, a first driving steering engine and a second driving steering engine; the first driving steering engine and the second driving steering engine are arranged at the top end of the chest main carbon fiber rod; the first driving steering engine is connected with the left wing; the second driving steering engine is connected with the right wing;
the belly structure comprises a belly carbon fiber rod and a third driving steering engine; the third driving steering engine is arranged at the tail end of the chest main carbon fiber rod; the top end of the abdominal carbon fiber rod is fixed with the third driving steering engine;
the micro-control system is arranged at the tail end of the abdominal carbon fiber rod; the micro-control system is electrically connected with the first driving steering engine, the second driving steering engine and the third driving steering engine; the micro-control system is used for controlling the first driving steering engine and the second driving steering engine to drive the left wing and the right wing to do beating motion according to the cosine law, and controlling the third driving steering engine to drive the abdominal carbon fiber rod to do swinging motion; the swinging motion and the beating motion of the cosine law have the same frequency and opposite phase.
2. The bionic ornithopter of claim 1, wherein the chest structure further comprises: the wing power mechanism connecting assembly, the left wing root connecting piece, the right wing root connecting piece and the back wing hinge connecting piece are arranged on the left wing base;
the first driving steering engine and the second driving steering engine are both arranged at the top end of the chest main carbon fiber rod through the wing power mechanism connecting component; the first driving steering engine is connected with the left wing through the left wing root connecting piece; the second driving steering engine is connected with the right wing through the right wing root connecting piece; the back wing hinge connecting piece is sleeved on the chest main carbon fiber rod; one end of the back wing hinge connecting piece is hinged with the left wing; the other end of the back wing hinge connecting piece is hinged with the right wing.
3. The bionic ornithopter of claim 2, wherein the chest structure further comprises: the two wings drive the rocker arms of the steering engine;
the first driving steering engine is connected with the left wing root connecting piece through a wing driving steering engine rocker arm; and the second driving steering engine is connected with the right wing root connecting piece through the other wing driving steering engine rocker arm.
4. The bionic ornithopter of claim 1, wherein the belly structure further comprises: the abdomen power mechanism connecting assembly, the abdomen connecting mechanism and the micro-control system fixing assembly are arranged on the abdomen power mechanism;
the third driving steering engine is arranged at the tail end of the chest main carbon fiber rod through the abdomen power mechanism connecting assembly; the abdomen connecting mechanism is fixed on the third driving steering engine; the top end of the belly carbon fiber rod is inserted into the belly connection mechanism; the micro-control system is arranged at the tail end of the abdominal carbon fiber rod through the micro-control system fixing component.
5. The bionic ornithopter as claimed in claim 1, wherein the micro-control system comprises a zigbee control chip;
and the zigbee control chip is electrically connected with the first driving steering engine, the second driving steering engine and the third driving steering engine respectively.
6. The bionic ornithopter of claim 5, wherein the micro-control system further comprises an electronic gyroscope and a power supply; the electronic gyroscope and the power supply are electrically connected with the zigbee control chip; the electronic gyroscope is used for acquiring current attitude information.
7. The bionic ornithopter as claimed in claim 5, wherein the zigbee control chip is internally provided with a central pattern generator.
8. The bionic ornithopter as claimed in claim 2, wherein the wing power mechanism connecting assembly is printed in a 3D printing manner.
9. A control method of a bionic ornithopter, characterized in that the control method is used for the bionic ornithopter according to any one of claims 1 to 8; the control method comprises the following steps:
based on the current attitude information, a central mode generator is adopted to control a kinematics control model to generate a cosine law beating control pulse signal and a swing motion control pulse signal, so that attitude adjustment is realized; the cosine law flapping control pulse signal is used for controlling a first driving steering engine and a second driving steering engine to drive a left wing and a right wing to do cosine law flapping motion; the swing motion control pulse signal is used for controlling a third driving steering engine to drive the abdominal carbon fiber rod to swing.
10. The control method of a bionic ornithopter according to claim 9, wherein the kinematic control model is:
wherein the content of the first and second substances,
an asymmetric cosine function for controlling flapping of the left wing;
an asymmetric cosine function for controlling right wing flapping; thetaa(t) is a control cosine function of the abdominal carbon fiber rod swing; omega is the beating angular speed under biological observation; omega-omega0[1-Psin(ω0·t)](ii) a P is an asymmetry factor;
ω0the double-wing flapping angular velocity of uniform rigid flapping; omega02 pi f; t is time; f is the flapping frequency of the double wings; gamma is the phase difference between the flapping of the double wings and the swinging of the abdominal carbon fiber rod;
the amplitude of the flapping of the left wing;
the amplitude of the right wing flapping;
the balance position of the flapping of the left wing;
the balance position of the flapping of the right wing; a. theaAmplitude of oscillation of the carbon fibre rod of the abdomen, C0Is the balance position of the swinging of the abdominal carbon fiber rod.
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