CN114180055A - Piezoelectric driving type micro flapping wing aircraft and flight control method - Google Patents
Piezoelectric driving type micro flapping wing aircraft and flight control method Download PDFInfo
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- CN114180055A CN114180055A CN202111555971.9A CN202111555971A CN114180055A CN 114180055 A CN114180055 A CN 114180055A CN 202111555971 A CN202111555971 A CN 202111555971A CN 114180055 A CN114180055 A CN 114180055A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
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Abstract
The invention discloses a piezoelectric driving type micro flapping wing aircraft and a flight control method, wherein the piezoelectric driving type micro flapping wing aircraft comprises at least two pairs of flapping wing mechanisms, wherein each pair of flapping wing mechanisms are symmetrically arranged on two sides of an aircraft body; each flapping wing mechanism comprises a piezoelectric driver, a transmission structure and a wing, one end of the transmission structure is connected to the machine body, the other end of the transmission structure is connected to the piezoelectric driver, the wing is arranged on the transmission structure, and the piezoelectric driver drives the transmission structure to generate angular deflection so as to drive the wing to move in a fanning manner; the control system comprises a power supply module, a control module, a sensing module, a communication module and a driving output module, wherein the power supply module is respectively connected with the control module, the sensing module, the communication module and the driving output module, the control module is respectively connected with the sensing module, the communication module and the driving output module, and the driving output module is respectively connected with the piezoelectric driver of each flapping wing mechanism. The invention can realize the stable hovering and flexible flight control of the attitude of the miniature flapping wing aircraft.
Description
Technical Field
The invention belongs to the field of bionic aircrafts, and particularly relates to a piezoelectric driving type micro flapping wing aircraft and a flight control method.
Background
Compared with fixed wing and rotor wing type aircrafts, the bionic flapping wing aircraft has the unique advantages that: the aircraft takes off in situ or in a small place, has excellent flight maneuverability and hovering performance, low noise, high energy efficiency and low cost, and is particularly suitable for concealed flight missions. However, with the improvement of the requirements of miniaturization, integration, light weight and high endurance, the complex mechanical structure of the traditional flapping wing aircraft is not suitable for the miniature flapping wing aircraft any more, especially for a steering engine and a main wing or tail wing steering mechanism for controlling the aircraft. Although the current micro flapping wing aircraft can obtain high flight capability based on the bionic flight principle and mechanism, the stable and flexible flight of the micro flapping wing aircraft is still very difficult to realize by performing high-performance flight motion control on the basis of a highly simplified and integrated driving mechanism.
Therefore, in order to meet the requirements of miniaturization, integration and high-performance flight motion control of the flapping wing aircraft, a piezoelectric driving type micro flapping wing aircraft and a flight control method are urgently needed to solve the defects of the prior art.
Disclosure of Invention
The invention aims to provide a piezoelectric driving type micro flapping wing aircraft and a flight control method, and aims to achieve the purposes of realizing stable hovering and flexible flight control of the attitude of the micro flapping wing aircraft by an integrated mechanism.
In order to achieve the purpose, the invention provides a piezoelectric driving type micro flapping wing aircraft, which comprises an aircraft body, a control system and at least two pairs of flapping wing mechanisms, wherein each pair of flapping wing mechanisms are symmetrically arranged on two sides of the aircraft body;
each flapping wing mechanism comprises a piezoelectric driver, a transmission structure and a wing, one end of the transmission structure is connected to the machine body, the other end of the transmission structure is connected to the piezoelectric driver, the wing is arranged on the transmission structure, and the piezoelectric driver drives the transmission structure to generate angular deflection so as to drive the wing to move in a fanning manner;
the control system comprises a power supply module, a control module, a sensing module, a communication module and a drive output module, wherein the power supply module is respectively connected with the control module, the sensing module, the communication module and the drive output module, the control module is respectively connected with the sensing module, the communication module and the drive output module, and the drive output module is respectively connected with each piezoelectric driver of the flapping wing mechanism.
Optionally, the piezoelectric driver includes a piezoelectric sheet and a connecting plate, one end of the piezoelectric sheet is disposed on the machine body and connected to the driving output module, and the other end of the piezoelectric sheet is connected to the other end of the transmission structure through the connecting plate;
the drive output module can apply an electric field in the polarization direction of the piezoelectric patches to enable the piezoelectric patches to generate bending deformation so as to drive the transmission structure to generate angular deflection and further drive the wings to move in a fanning manner.
Optionally, the piezoelectric sheets include a first piezoelectric wafer, a second piezoelectric wafer, a common terminal electrode, and two input electrodes; the first piezoelectric wafer and the second piezoelectric wafer are sequentially superposed, the common terminal electrode is located between the first piezoelectric wafer and the second piezoelectric wafer, and the two input electrodes are respectively located on the outer side surfaces of the first piezoelectric wafer and the second piezoelectric wafer.
Optionally, the transmission structure includes a first rigid rod, a second rigid rod, a third rigid rod, and a fourth rigid rod connected in sequence by a flexible hinge;
the transmission structure is U-shaped, the open end faces the machine body, the third rigid rod is positioned at one end far away from the machine body, the free end of the first rigid rod is connected to the piezoelectric driver, the free end of the fourth rigid rod is connected to the machine body, and the wing is fixed on the third rigid rod;
the piezoelectric driver drives the third rigid rod to generate angular deflection through the first rigid rod and the second rigid rod, and further drives the wing to move in a fanning mode.
Optionally, the power module includes a model airplane battery, a low voltage stabilizing circuit and a voltage boost circuit, the model airplane battery is connected to the control module and the sensing module through the low voltage stabilizing circuit, and the model airplane battery is connected to the driving output module through the voltage boost circuit.
Optionally, the sensing module includes a three-axis acceleration sensor, a three-axis gyroscope, a three-axis geomagnetic sensor, and a height sensor.
Optionally, the driving output module includes a plurality of low-pass filters and a plurality of high-voltage operational amplifiers, the low-pass filters are respectively connected to the control module, and each low-pass filter is connected to one of the flapping wing mechanisms through one of the high-voltage operational amplifiers.
Optionally, the piezo-driven micro-ornithopter comprises two pairs of ornithopters;
the machine body comprises a bottom plate, a cross beam and a pair of vertical beams, the pair of vertical beams are respectively arranged at the front end and the rear end of the top surface of the bottom plate and are perpendicular to the bottom plate, the cross beam is connected between the tops of the pair of vertical beams, and each pair of transmission structures of the flapping wing mechanisms are connected to two sides of one vertical beam.
The invention also provides a flight control method for the piezoelectric driving type micro flapping wing aircraft, which comprises the following steps:
1) detecting the current flight state information of the piezoelectric driving type micro flapping wing aircraft, and receiving a current control instruction;
2) combining the current flight state information and the current control instruction to perform aircraft motion control operation to obtain a required total lift force regulation control instruction and a required shaft moment regulation control instruction;
3) converting the total lift force regulation control instruction and the shaft moment regulation control instructions into driving control signals required by the flapping wing mechanisms, and generating corresponding high-pressure driving sources to drive the flapping wing mechanisms to carry out expected movement so as to realize flight movement control;
4) returning to the step 1), repeating the steps 1) -3), and forming motion closed-loop control based on sensing information feedback.
Optionally, the step 2) includes:
2.1) comparing the expected flying height in the current control instruction with the actual flying height in the current flying state information, and calculating the total lift f of the body according to deviationdAdjusting the control command;
2.2) converting the expected flight direction and speed in the current control command into an adjustment control command of an expected flight attitude angle (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) according to an aircraft body motion model;
2.3) comparing expected flight attitude angles (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) in the adjusting control command with actual flight attitude angles (the pitch angle theta a, the roll angle phi a and the yaw angle psi a) in the current flight state information, and calculating the adjusting control command of the pitching moment tau p, the rolling moment tau r and the yaw moment tau y of the body according to deviation;
and 2.4) if the control instruction is not received, the attitude stable hovering control state is achieved, the expected pitch angle and the expected roll angle are 0, and the expected yaw angle keeps the previous step instruction unchanged.
The invention has the beneficial effects that: the piezoelectric driving type micro flapping wing aircraft comprises a plurality of pairs of flapping wing mechanisms, each flapping wing mechanism is driven by a control system independently, the multiple flapping wing mechanisms are controlled to move simultaneously, multiple degrees of freedom control over the aircraft body is achieved, through the motion coordination among the control wings, when the wings are adjusted to move according to the required body moment, at least four controlled wings can efficiently generate required moment and simultaneously counteract the interference of residual force and moment, and the gravity center of the flapping wing aircraft body is kept stable.
The flapping wing is driven to move in a mode that the piezoelectric driver drives the transmission structure to generate a deflection angle, so that the high-efficiency control of the yawing moment of the airframe can be realized by the integrally integrated flapping wing mechanism, and no additional driving and transmission structure is required to be arranged on the flapping wing; the plane of the wing generates a larger passive attack angle deviating from the vertical direction in the flapping process through the matching of the transmission structure and the piezoelectric driver, an obvious plane attack angle difference is generated by adjusting the amplitude difference of the flapping angles of the wing at two sides of the initial position, the difference is equivalent to the turning of the root of the wing or the deflection of the flapping initial plane of the wing, the aerodynamic force borne by the wing generates a larger tangential component force, and the yaw moment is efficiently generated to the body by combining the motion adjustment and the matching of the wings.
The adopted piezoelectric driving method is convenient for converting various required wing motion waveforms into driving signals of the piezoelectric driver through operation in a control system (such as SPWM control signals generated by a modulation method), and the piezoelectric driver is controlled to move according to the same waveform, so that the required wing motion is efficiently realized.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 shows a schematic structural diagram of a piezo-electrically driven micro-ornithopter according to an embodiment of the invention;
FIG. 2 shows a schematic structural view of a piezoelectric patch according to an embodiment of the invention;
FIG. 3 shows a schematic diagram of a transmission configuration according to an embodiment of the invention;
FIG. 4 shows a schematic diagram of a control system according to an embodiment of the invention;
FIG. 5 illustrates a body coordinate system and force diagram of a piezo-electrically driven micro-ornithopter according to an embodiment of the present invention;
FIG. 6 shows a flow diagram of a method of flight control for a piezo-electrically driven micro-ornithopter according to an embodiment of the invention;
FIG. 7 illustrates a workflow diagram of a control system according to one embodiment of the invention;
FIG. 8 illustrates a schematic diagram of a total lift generation method and corresponding individual wing motion waveforms in accordance with an embodiment of the present invention;
FIG. 9 illustrates a schematic diagram of a method for generating a pitching moment of a body and corresponding wing motion waveforms, according to an embodiment of the present invention;
FIG. 10 illustrates a schematic diagram of a roll torque generation method and corresponding wing motion waveforms in accordance with an embodiment of the present invention;
FIG. 11 illustrates a schematic view of a yaw moment generation method and corresponding wing motion waveforms in accordance with an embodiment of the present invention.
Description of the reference numerals
1. A base plate; 2. a piezoelectric sheet; 3. a connecting plate; 4. a transmission structure; 5. a wing; 6. erecting a beam; 7. a cross beam;
21. a first piezoelectric wafer; 22. a common terminal electrode; 23. a second piezoelectric wafer; 24. an input electrode;
41-1, a first rigid rod; 41-2, a second rigid rod; 41-3, a third rigid rod; 41-4, a fourth rigid rod;
42-1, a first flexible hinge; 42-2, a second flexible hinge; 42-3, a third flexible hinge;
81. a power supply module; 82. a sensing module; 83. a communication module; 84. a control module; 85. a drive output module;
81-1, a model airplane battery; 81-2, a low-voltage stabilizing circuit; 81-3, a booster circuit;
82-1, a three-axis acceleration sensor; 82-2, a three-axis gyroscope; 82-3, a three-axis geomagnetic sensor; 82-4, a height sensor;
83-1, a wireless radio frequency module;
84-1, a DSP microprocessor;
85-1a, a low-pass filter I; 85-1b and a low-pass filter II; 85-1c, a low-pass filter III; 85-1d and a low-pass filter IV;
85-2a, a high-voltage operational amplifier I; 85-2b, a high-voltage operational amplifier II; 85-2c, a high-voltage operational amplifier III; 85-2d and a high-voltage operational amplifier IV.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
The invention discloses a piezoelectric driving type micro flapping wing aircraft, which comprises an aircraft body, a control system and at least two pairs of flapping wing mechanisms, wherein each pair of flapping wing mechanisms are symmetrically arranged on two sides of the aircraft body;
each flapping wing mechanism comprises a piezoelectric driver, a transmission structure and a wing, one end of the transmission structure is connected to the machine body, the other end of the transmission structure is connected to the piezoelectric driver, the wing is arranged on the transmission structure, and the piezoelectric driver drives the transmission structure to generate angular deflection so as to drive the wing to move in a fanning manner;
the control system comprises a power supply module, a control module, a sensing module, a communication module and a driving output module, wherein the power supply module is respectively connected with the control module, the sensing module, the communication module and the driving output module, the control module is respectively connected with the sensing module, the communication module and the driving output module, and the driving output module is respectively connected with the piezoelectric driver of each flapping wing mechanism.
Specifically, the pitching, rolling and yawing control of the aircraft is realized by independently controlling each flapping wing mechanism through the layout and control system of the multiple flapping wing mechanisms, and the yawing moment is efficiently generated by combining the driving method of the piezoelectric driver and the matched transmission structure, so that the aims of realizing stable hovering and flexible flight control of the attitude of the miniature flapping wing aircraft by using the integrated mechanism are fulfilled.
The plane of the initial position of each wing is vertical to the x axis of the coordinate system of the machine body, and each wing takes the plane of the initial position as the center to fan back and forth. The fan-moving matching mode of each wing is as follows: the flapping frequencies of the wings are the same, the flapping angle directions of a pair of wings symmetrically arranged at two sides of the machine body are opposite, and the flapping angle directions of adjacent wings positioned at the same side of the machine body are opposite.
When the total lift force needs to be generated, all the wings perform reciprocating flapping back and forth with the plane where the initial position is located as the center and the same frequency, the amplitude of the flapping towards the two sides of the plane where the initial position is located is the same, the body only bears the vertically upward lift force, and the flapping frequency and the amplitude of the wings are in direct proportion to the total lift force;
when the pitching moment needs to be generated, all the wings perform reciprocating flapping back and forth with the same frequency by taking the plane where the initial position of each wing is as the center, and the amplitude value of the flapping angle of the pair of wings positioned at one end of the machine body is larger than that of the flapping angle of the pair of wings at the other end, so that the aerodynamic force applied to one end of the machine body is larger than that applied to the other end of the machine body, the machine body generates the pitching moment besides the vertical upward total lift force, and the flapping frequency of the wings and the difference of the amplitude values of the flapping angles of the two pairs of wings are in direct proportion to the pitching moment;
when the pitching moment needs to be generated, all the wings perform reciprocating flapping back and forth with the same frequency by taking the plane of the initial position as the center, and the amplitude of the flapping angle of the wing positioned on one side of the machine body is larger than that of the wing positioned on the other side of the machine body, so that the aerodynamic force applied to one side of the machine body is larger than that of the other side of the machine body, the machine body generates a rolling moment besides the vertical upward total lift force, and the flapping frequency of the wings and the difference of the amplitude of the flapping angles of the wings on the two sides of the machine body are in direct proportion to the rolling moment;
when a yawing moment needs to be generated, each wing performs back-and-forth reciprocating flapping with the same frequency by taking the plane of the initial position of each wing as the center, the half-period amplitude of the flapping of the wing positioned at one side of the machine body to one side of the initial position is larger than the half-period amplitude of the flapping to the other side, the wing positioned at the other side of the machine body is opposite to the half-period amplitude, the plane of each wing generates an obvious passive attack angle deviating from the vertical direction in the reciprocating flapping process due to the transverse air reaction force when the wing moves, and simultaneously, the transmission structure connected with the root of the wing is combined, so that the plane of each wing generates a passive attack angle which is obviously larger than the vertical direction in the reciprocating flapping process, the half-period with a large amplitude of the flapping angle of the wing (namely, the flapping angular velocity is large) generates a half-period with a larger attack angle than the small amplitude of the flapping angle of the wing (namely, the flapping angular velocity is small), and the half-period is equivalent to the turning of the root of the wing in the corresponding direction or the initial plane of the wing flapping, so as to generate tangential aerodynamic component force, the body is subjected to a yaw moment in addition to the total lift vertically upwards.
As an alternative, the piezoelectric driver comprises a piezoelectric sheet and a connecting plate, one end of the piezoelectric sheet is arranged on the machine body and connected to the driving output module, and the other end of the piezoelectric sheet is connected to the other end of the transmission structure through the connecting plate;
the drive output module can apply an electric field in the polarization direction of the piezoelectric sheet to enable the piezoelectric sheet to generate bending deformation so as to drive the transmission structure to generate angular deflection and further drive the wing to move in a fanning manner.
Specifically, the piezoelectric sheet is made of PZT piezoelectric ceramic materials and is rectangular or trapezoidal.
Alternatively, the piezoelectric sheet includes a first piezoelectric wafer, a second piezoelectric wafer, a common terminal electrode, and two input electrodes; the first piezoelectric wafer and the second piezoelectric wafer are sequentially superposed, the common terminal electrode is positioned between the first piezoelectric wafer and the second piezoelectric wafer, and the two input electrodes are respectively positioned on the outer side surfaces of the first piezoelectric wafer and the second piezoelectric wafer.
Specifically, when the control system loads matched voltage between the common terminal electrode and the input electrode of the piezoelectric sheet through the driving output module, the piezoelectric sheet generates bending deformation, and as one end of the piezoelectric sheet is fixedly connected with the machine body, the other end of the piezoelectric sheet generates transverse displacement, so that the transmission structure generates angular deflection, and the wing fixed with the transmission structure is driven to generate angular deflection. When the applied voltage is an alternating voltage with a certain frequency, the wing actively generates a fanning angle around the initial vertical plane.
As an alternative, the transmission structure comprises a first rigid rod, a second rigid rod, a third rigid rod and a fourth rigid rod which are sequentially connected through flexible hinges;
the transmission structure is U-shaped, the opening end faces the machine body, the third rigid rod is positioned at one end far away from the machine body, the free end of the first rigid rod is connected to the piezoelectric driver, the free end of the fourth rigid rod is connected to the machine body, and the wing is fixed on the third rigid rod;
the piezoelectric driver drives the third rigid rod to generate angular deflection through the first rigid rod and the second rigid rod, and then drives the wing to move in a fanning manner.
Specifically, the piezoelectric actuator drives the third rigid rod to generate angular deflection through the first rigid rod and the second rigid rod, so as to drive the wing fixed with the piezoelectric actuator to generate angular deflection, and meanwhile, as the transmission structure is in flexible hinge connection, the root of the wing connected with the transmission structure generates larger passive torsion when the wing moves under transverse air reaction force, namely, the plane of the wing passively generates a larger attack angle deviating from the vertical direction.
As an alternative scheme, the power module comprises a model airplane battery, a low-voltage stabilizing circuit and a booster circuit, the model airplane battery is connected to the control module and the sensing module through the low-voltage stabilizing circuit, and the model airplane battery is connected to the driving output module through the booster circuit.
Specifically, the model airplane battery provides electric energy for the whole drive control system; the low-voltage stabilizing circuit is provided with a voltage reducing and stabilizing device, receives power supplied by the model airplane battery and converts the power into required direct-current voltage of 3.3V or 5V and the like to be supplied to the sensing module and each device in the control module to work; the booster circuit is provided with a booster device, receives the power supplied by the model airplane battery and converts the power into high-voltage direct-current voltage matched with the piezoelectric driver, such as +/-200V, and the high-voltage direct-current voltage is used as a power supply for driving the high-voltage operational amplifier in the output module.
As an alternative, the sensing module includes a three-axis acceleration sensor, a three-axis gyroscope, a three-axis geomagnetic sensor, and a height sensor.
Specifically, a three-axis acceleration sensor and a three-axis gyroscope are used for detecting the acceleration and angular velocity data of the body, and the pitch angle and the roll angle of the body are obtained through operation and Kalman filtering;
the three-axis geomagnetic sensor and the three-axis gyroscope are used for detecting the orientation and angular speed data of the body, and the yaw angle of the body is obtained through operation and Kalman filtering;
the height sensor detects the current environment atmospheric pressure of the machine body obtained through detection, and the current height of the machine body is obtained through calculation.
Alternatively, the driving output module comprises a plurality of low-pass filters and a plurality of high-voltage operational amplifiers, the low-pass filters are respectively connected to the control module, and each low-pass filter is connected to one flapping wing mechanism through one high-voltage operational amplifier.
Alternatively, the piezoelectric driving type micro flapping wing air vehicle comprises two pairs of flapping wing mechanisms;
the machine body comprises a bottom plate, a cross beam and a pair of vertical beams, wherein the pair of vertical beams are respectively arranged at the front end and the rear end of the top surface of the bottom plate and are perpendicular to the bottom plate, the cross beam is connected between the tops of the pair of vertical beams, and each pair of transmission structures of the flapping wing mechanisms are connected to two sides of one vertical beam.
Specifically, the vertical beam and the cross beam are both plate-shaped, the vertical beam is T-shaped, the bottom end of the vertical beam is fixed on the bottom plate, and the left end and the right end of the vertical beam are respectively connected with the transmission structure.
The invention also discloses a flight control method, which is used for the piezoelectric driving type micro flapping wing aircraft and comprises the following steps:
1) detecting the current flight state information of the piezoelectric driving type micro flapping wing aircraft, and receiving a current control instruction;
2) performing aircraft motion control operation by combining the current flight state information and the current control instruction to obtain a required total lift force regulation control instruction and each shaft moment regulation control instruction;
3) converting the total lift force regulation control instruction and the shaft moment regulation control instruction into driving control signals required by each flapping wing mechanism, and generating corresponding high-pressure driving sources to drive each flapping wing mechanism to carry out expected movement so as to realize flight movement control;
4) returning to the step 1), repeating the steps 1) -3), and forming motion closed-loop control based on sensing information feedback.
Specifically, the current flight status information includes: flying height haAnd the pitch angle theta of the machine bodyaAngle of roll phiaAnd yaw angle psia(ii) a The current control commands include a flying height command, a flying direction command, and a speed adjustment command.
Alternatively, step 2) comprises:
2.1) comparing the expected flying height in the current control instruction with the actual flying height in the current flying state information, and calculating the total lift fd of the body according to the deviation to adjust the control instruction;
2.2) converting the expected flight direction and speed in the current control command into an adjustment control command of an expected flight attitude angle (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) according to the aircraft body motion model;
2.3) comparing expected flight attitude angles (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) in the adjusting control command with actual flight attitude angles (the pitch angle theta a, the roll angle phi a and the yaw angle psi a) in the current flight state information, and calculating the adjusting control command of the pitching moment tau p, the rolling moment tau r and the yaw moment tau y of the body according to the deviation;
and 2.4) if the control instruction is not received, the aircraft is in an attitude stable hovering control state, the expected pitch angle and the expected roll angle are 0, and the expected yaw angle keeps the previous step instruction unchanged.
Examples
As shown in fig. 1, the piezoelectric driving type micro flapping wing aircraft of the present embodiment includes an aircraft body, a control system and two pairs of flapping wing mechanisms, wherein the aircraft body includes a bottom plate 1, a cross beam 7 and a pair of vertical beams 6, the pair of vertical beams 6 are respectively disposed at the front and rear ends of the top surface of the bottom plate 1 and are perpendicular to the bottom plate 1, the cross beam 7 is connected between the tops of the pair of vertical beams 6, and the pair of flapping wing mechanisms are not symmetrically disposed at two sides of one vertical beam 6; each flapping wing mechanism comprises a piezoelectric driver, a transmission structure 4 and a wing 5; the piezoelectric driver comprises a piezoelectric sheet 2 and a connecting plate 3, wherein the piezoelectric sheet 2 is made of PZT piezoelectric ceramic materials and is rectangular or trapezoidal; the piezoelectric patch 2 is vertically arranged on the bottom plate 1, and the top end of the piezoelectric patch 2 is connected to the transmission structure 4 through the connecting plate 3;
as shown in fig. 2, the piezoelectric sheet 2 includes a first piezoelectric wafer 21, a second piezoelectric wafer 23, a common terminal electrode 22 and two input electrodes 24, the first piezoelectric wafer 21 and the second piezoelectric wafer 23 are stacked in sequence, the common terminal electrode 22 is located between the first piezoelectric wafer 21 and the second piezoelectric wafer 23, and the two input electrodes 24 are located on the outer side surfaces of the first piezoelectric wafer 21 and the second piezoelectric wafer 23, respectively, and located at one end facing the base plate 1;
as shown in fig. 3, the transmission structure is U-shaped, the open end of the transmission structure faces the body, and the transmission structure comprises a first rigid rod 41-1, a second rigid rod 41-2, a third rigid rod 41-3, and a fourth rigid rod 41-4 which are sequentially connected through a flexible hinge, wherein the first rigid rod 41-1 is connected with the second rigid rod 41-2 through the first flexible hinge 42-1, the second rigid rod 41-2 is connected with the third rigid rod 41-3 through the second flexible hinge 42-2, and the third rigid rod 41-3 is connected with the fourth rigid rod 41-4 through the third flexible hinge 42-3; the top end of the piezoelectric patch 2 is connected to the free end of the first rigid rod 41-1 through the connecting plate 3, the free end of the fourth rigid rod 41-4 is connected to the vertical beam 6, and the wing 5 is fixed on the third rigid rod 41-3;
when matched voltage is loaded between the common terminal electrode 22 and the input electrode 24 of the piezoelectric sheet 2, the piezoelectric sheet 2 generates bending deformation, because the bottom of the piezoelectric sheet 2 is fixed with the bottom plate 1, the top of the piezoelectric sheet 2 generates transverse displacement parallel to the directions of the first rigid rod 41-1 and the second rigid rod 41-2, the motion of the piezoelectric sheet 2 is transmitted to one end of the third rigid rod 41-3 through the first rigid rod 41-1 and the second rigid rod 41-2, so that the third rigid rod 41-3 generates angular deflection, and the wing 5 fixed with the third rigid rod is driven to generate angular deflection; when the voltage loaded on the piezoelectric sheet 2 by the control system is an alternating voltage with a certain frequency, the wing 5 is flapped towards the front side and the rear side by taking the plane where the initial position is located as the center, and meanwhile, as the transmission structure 4 is in flexible hinge connection, the root of the wing 5 connected with the transmission structure 4 is subjected to larger passive torsion when the wing 5 flares under the transverse air reaction force, namely, the plane of the wing 5 passively generates a larger attack angle deviating from the vertical direction.
As shown in fig. 4, the control system includes a power module 81, a control module 84, a sensing module 82, a communication module 83 and a driving output module 85, the power module 81 is respectively connected to the control module 84, the sensing module 82, the communication module 83 and the driving output module 85, and the control module 84 is respectively connected to the sensing module 82, the communication module 83 and the driving output module 85; the power module 81 comprises a model airplane battery 81-1, a low-voltage stabilizing circuit 81-2 and a booster circuit 81-3, the model airplane battery 81-1 is connected to the control module 84 and the sensing module 82 through the low-voltage stabilizing circuit 81-2, and the model airplane battery 81-1 is connected to the driving output module 85 through the booster circuit 81-2; the control module 84 includes a DSP microprocessor 84-1; the sensing module 82 comprises a three-axis acceleration sensor 82-1, a three-axis gyroscope 82-2, a three-axis geomagnetic sensor 82-3 and a height sensor 82-4; the communication module 83 includes a radio frequency module 83-1; the driving output module 85 comprises four low-pass filters (a low-pass filter I85-1 a, a low-pass filter II 85-1b, a low-pass filter III 85-1c and a low-pass filter IV 85-1 d), and four high-voltage operational amplifiers (a high-voltage operational amplifier I85-2 a, a high-voltage operational amplifier II 85-2b, a high-voltage operational amplifier III 85-2c and a high-voltage operational amplifier IV 85-2d), the four low-pass filters are respectively connected to the control module 84, and each low-pass filter is connected to one piezoelectric driver through one high-voltage operational amplifier.
In the present embodiment, the model airplane battery 81-1 supplies electric energy to the whole control system; the low-voltage stabilizing circuit 81-2 is provided with a voltage-reducing and voltage-stabilizing device for receiving power supply of the model airplane battery 81-1 and converting the power supply into required direct-current voltage of 3.3V or 5V and the like to be supplied to the sensing module 82 and each device in the control module 84 for working; the booster circuit 81-3 is provided with a booster device for receiving power supplied by the model airplane battery 81-1 and converting the power into high-voltage direct-current voltage matched with the piezoelectric driver, such as +/-200V, and the high-voltage direct-current voltage is used as a power supply for driving a high-voltage operational amplifier in the output module 85. The radio frequency module 83-1 adopts 2.4G wireless communication devices such as nRF24L01 and the like, performs data transmission with the outside through an antenna structure, and is connected with a corresponding communication interface of the DSP microprocessor 84-1 in the control system. The sensing signals output by each sensing device in the sensing module 82 are input to the corresponding input interface of the DSP microprocessor 84-1, and the DSP microprocessor 84-1 performs sensing information calculation and control operation by a preset algorithm to obtain the required control signals and outputs the control signals through the corresponding output interface. Each low-pass filter in the output module 85 receives the control signal output by the DSP microprocessor 84-1, generates a required low-voltage driving signal of the piezoelectric controller, converts the low-voltage driving signal into a high-voltage driving source matched with the driving of the piezoelectric controller through a high-voltage operational amplifier, and inputs the high-voltage driving source into each corresponding piezoelectric driver of the flapping wing mechanism in the micro flapping wing aircraft.
The body coordinate system and the stress of the piezoelectric driving type micro flapping wing aircraft of the embodiment are shown in fig. 5, wherein the origin O is located at the mass center of the aircraft, and OX is the center of massbThe axis lying in the reference plane of the aircraft parallel to the axis of the fuselage and directed in front of the aircraft, OYbThe axis being perpendicular to the aircraft reference plane and directed to the right of the aircraft, OZbThe axis being perpendicular to X in the reference planebOYbA plane pointing below the aircraft; f. ofdTaking the total lift force of the body, taup is the pitching moment of the body, taur is the rolling moment of the body, and tauy is the yawing moment of the body; the plane of the initial positions of the wing I, the wing II, the wing III and the wing IV and OXbThe axis is vertical. The motion matching mode of the wing I, the wing II, the wing III and the wing IV is as follows: the wing has the same fan frequency but adjustable fan amplitude, the fan angle directions of the wing I and the wing III which are distributed in a diagonal line are the same, the fan angle directions of the wing II and the wing IV are the same, but the wing I and the wing III are the sameThe direction of the flapping angle of the wing IV is opposite, and the direction of the flapping angle of the wing II is opposite to that of the flapping angle of the wing III.
As shown in fig. 6, the flight control method of the piezoelectric-driven micro flapping-wing aircraft of the embodiment includes the following steps:
1) detecting the current flight state information of the piezoelectric driving type micro flapping wing aircraft, and receiving a current control instruction;
2) performing aircraft motion control operation by combining the current flight state information and the current control instruction to obtain a required total lift force regulation control instruction and each shaft moment regulation control instruction;
3) converting the total lift force regulation control instruction and the shaft moment regulation control instruction into driving control signals required by each flapping wing mechanism, and generating corresponding high-pressure driving sources to drive each flapping wing mechanism to carry out expected movement so as to realize flight movement control;
4) returning to the step 1), repeating the steps 1) -3), and forming motion closed-loop control based on sensing information feedback.
Wherein the current flight status information comprises: flying height haAnd the pitch angle theta of the machine bodyaAngle of roll phiaAnd yaw angle psia(ii) a The current control instruction comprises a flying height instruction, a flying direction instruction and a speed adjusting instruction; flying height haDetecting by a height sensor, and calculating by the detected current environment atmospheric pressure of the machine body to obtain the current height of the machine body; pitch angle theta of machine bodyaAnd roll angle phiaThe body acceleration and angular velocity data detected by a three-axis acceleration sensor and a three-axis gyroscope are obtained through calculation and Kalman filtering; yaw angle psi of the bodyaThe orientation and angular velocity data of the machine body detected by the triaxial geomagnetic sensor and the triaxial gyroscope are obtained through calculation and Kalman filtering; and resolving the sensing information of each flight state in a DSP microprocessor.
Wherein, step 2) specifically includes:
2.1) comparing the expected flying height in the current control instruction with the actual flying height in the current flying state information, and calculating the total lift force regulation control instruction of the body according to the deviation;
2.2) converting the expected flight direction and speed in the current control instruction into an adjustment control instruction of an expected flight attitude angle (a pitch angle, a roll angle and a yaw angle) according to the aircraft body motion model;
2.3) comparing an expected flight attitude angle in the adjusting control instruction with an actual flight attitude angle in the current flight state information, and calculating the adjusting control instruction of pitching moment, rolling moment and yawing moment of the body according to the deviation;
and 2.4) if the control instruction is not received, the aircraft is in an attitude stable hovering control state, the expected pitch angle and the expected roll angle are 0, and the expected yaw angle keeps the previous step instruction unchanged.
FIG. 7 is a flow chart of the operation of the control system, including:
the communication module receives aircraft flight motion instructions, wherein the aircraft flight motion instructions comprise a desired flight altitude and a desired attitude angle (comprising a desired pitch angle, a desired roll angle and a desired yaw angle);
the method comprises the steps that the height sensor of a sensing module detects and sensing information of a control module is resolved to obtain the current flying height;
sensing information of an attitude sensor (comprising a triaxial acceleration sensor, a triaxial gyroscope and a triaxial geomagnetic sensor) detection and control module is resolved to obtain a current attitude angle (comprising a current pitch angle, a current roll angle and a current yaw angle);
carrying out PID (proportion integration differentiation) operation on the expected flying height and the current flying height in a control module to obtain a total lift control instruction of the body;
carrying out PID operation on the expected attitude angle and the current attitude angle in a control module to obtain an engine body torque control instruction (including pitching torque, rolling torque and yawing torque);
inputting the total lift control instruction and the moment control instruction of the airframe into corresponding low-pass filters and converting the total lift control instruction and the moment control instruction into driving control signals of each flapping wing mechanism of the flapping wing aircraft;
and respectively inputting the driving control signals of each flapping wing mechanism of the flapping wing aircraft into the corresponding high-voltage operational amplifier to be converted into high-voltage driving sources, and inputting the high-voltage driving sources into the piezoelectric drivers to drive each wing to move, so that the body of the flapping wing aircraft moves.
As shown in fig. 8, the total lift force is generated by: all wings are symmetrically and reciprocally flapped by taking the plane of the initial position as the center, the amplitudes are the same, the body only bears the vertical upward lifting force, and the movement frequency of the wings corresponds to the amplitudes and the total lifting force.
As shown in fig. 9, the pitching moment is generated by: each wing symmetrically and reciprocally fans by taking the plane of the initial position as the center, the amplitude of the fan-moving angle of two wings (wing I and wing II) at one end of the body is larger than that of two wings (wing III and wing IV) at the other end, so that aerodynamic force applied to one end of the body is larger than that applied to the other end of the body, the body is subjected to vertical upward total lift force, pitching moment is generated at the same time, and the movement frequency of the wings corresponds to the difference of the amplitude of the fan-moving angle of the two pairs of wings and the pitching moment.
As shown in fig. 10, the rolling torque is generated by: each wing symmetrically and reciprocally fans by taking the plane of the initial position as the center, the amplitude of the fan-moving angle of two wings (wing I and wing IV) on one side of the body is larger than that of two wings (wing II and wing III) on the other side of the body, so that aerodynamic force on one side of the body is larger than that on the other side of the body, the body simultaneously generates rolling torque except for vertical upward total lift force, and the movement frequency of the wings corresponds to the difference of the amplitude of the fan-moving angle of the two pairs of wings and the rolling torque.
As shown in fig. 11, the yaw moment is generated by: in the reciprocating flapping process of each wing, the half-period amplitude of the flapping of the wing I and the wing IV to the front of the plane where the initial position is located is smaller than the half-period amplitude of the flapping of the wing I and the wing IV to the rear of the plane where the initial position is located; the amplitude of the half-cycle of the flapping of the wing II and the wing III to the front of the plane where the initial positions are located is larger than the amplitude of the half-cycle of the flapping of the wing II and the wing III to the rear of the plane where the initial positions are located; because the plane is subjected to transverse air reaction force when the wings move, and simultaneously combined with a flexible transmission mechanism connected with the roots of the wings, the plane of each wing generates a passive attack angle obviously deviating from the vertical direction in the reciprocating flapping process, and a half period with a larger amplitude value of the flapping angle of the wings (namely large flapping angular velocity) generates a half period with an attack angle larger than a small amplitude value of the flapping angle of the wings (namely small flapping angular velocity), which is equivalent to that the roots of the wings turn in a corresponding direction or the initial plane of the flapping of the wings deflects to generate tangential aerodynamic component force, so that the body simultaneously generates yaw moment except the vertical upward total lift force, and the motion frequency of the wings corresponds to the amplitude difference of the flapping angle and the yaw moment in two half periods.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A piezoelectric driving type micro flapping wing aircraft is characterized by comprising an aircraft body, a control system and at least two pairs of flapping wing mechanisms, wherein each pair of flapping wing mechanisms are symmetrically arranged on two sides of the aircraft body;
each flapping wing mechanism comprises a piezoelectric driver, a transmission structure and a wing, one end of the transmission structure is connected to the machine body, the other end of the transmission structure is connected to the piezoelectric driver, the wing is arranged on the transmission structure, and the piezoelectric driver drives the transmission structure to generate angular deflection so as to drive the wing to move in a fanning manner;
the control system comprises a power supply module, a control module, a sensing module, a communication module and a drive output module, wherein the power supply module is respectively connected with the control module, the sensing module, the communication module and the drive output module, the control module is respectively connected with the sensing module, the communication module and the drive output module, and the drive output module is respectively connected with each piezoelectric driver of the flapping wing mechanism.
2. The piezoelectrically driven micro flapping wing aircraft of claim 1, wherein the piezoelectric driver comprises a piezoelectric sheet and a connecting plate, one end of the piezoelectric sheet is arranged on the aircraft body and connected to the driving output module, and the other end of the piezoelectric sheet is connected to the other end of the transmission structure through the connecting plate;
the drive output module can apply an electric field in the polarization direction of the piezoelectric patches to enable the piezoelectric patches to generate bending deformation so as to drive the transmission structure to generate angular deflection and further drive the wings to move in a fanning manner.
3. The piezoelectrically actuated micro ornithopter of claim 2, wherein the piezoelectric patches comprise a first piezoelectric patch, a second piezoelectric patch, a common terminal electrode and two input electrodes; the first piezoelectric wafer and the second piezoelectric wafer are sequentially superposed, the common terminal electrode is located between the first piezoelectric wafer and the second piezoelectric wafer, and the two input electrodes are respectively located on the outer side surfaces of the first piezoelectric wafer and the second piezoelectric wafer.
4. The piezo-driven micro ornithopter of claim 1, wherein the transmission structure comprises a first rigid rod, a second rigid rod, a third rigid rod, a fourth rigid rod connected in sequence by a flexible hinge;
the transmission structure is U-shaped, the open end faces the machine body, the third rigid rod is positioned at one end far away from the machine body, the free end of the first rigid rod is connected to the piezoelectric driver, the free end of the fourth rigid rod is connected to the machine body, and the wing is fixed on the third rigid rod;
the piezoelectric driver drives the third rigid rod to generate angular deflection through the first rigid rod and the second rigid rod, and further drives the wing to move in a fanning mode.
5. The piezoelectrically driven micro ornithopter according to claim 1, wherein the power module comprises a model airplane battery, a low voltage regulator circuit and a voltage boost circuit, the model airplane battery is connected to the control module and the sensing module through the low voltage regulator circuit, and the model airplane battery is connected to the driving output module through the voltage boost circuit.
6. The piezo-driven micro ornithopter of claim 1, wherein the sensing module comprises a three-axis acceleration sensor, a three-axis gyroscope, a three-axis geomagnetic sensor, and a height sensor.
7. The piezo-electrically driven micro ornithopter according to claim 1, wherein the drive output module comprises a plurality of low pass filters and a plurality of high voltage operational amplifiers, the low pass filters being connected to the control module, respectively, each low pass filter being connected to one of the flapping mechanisms via one of the high voltage operational amplifiers.
8. The piezoelectrically-driven micro ornithopter of claim 1, wherein the piezoelectrically-driven micro ornithopter comprises two pairs of flapping wing mechanisms;
the machine body comprises a bottom plate, a cross beam and a pair of vertical beams, the pair of vertical beams are respectively arranged at the front end and the rear end of the top surface of the bottom plate and are perpendicular to the bottom plate, the cross beam is connected between the tops of the pair of vertical beams, and each pair of transmission structures of the flapping wing mechanisms are connected to two sides of one vertical beam.
9. A flight control method for a piezo-electrically driven micro-ornithopter according to any one of claims 1 to 8, characterized in that the method comprises the steps of:
1) detecting the current flight state information of the piezoelectric driving type micro flapping wing aircraft, and receiving a current control instruction;
2) combining the current flight state information and the current control instruction to perform aircraft motion control operation to obtain a required total lift force regulation control instruction and a required shaft moment regulation control instruction;
3) converting the total lift force regulation control instruction and the shaft moment regulation control instructions into driving control signals required by the flapping wing mechanisms, and generating corresponding high-pressure driving sources to drive the flapping wing mechanisms to carry out expected movement so as to realize flight movement control;
4) returning to the step 1), repeating the steps 1) -3), and forming motion closed-loop control based on sensing information feedback.
10. The flight control method according to claim 9, wherein the step 2) includes:
2.1) comparing the expected flying height in the current control instruction with the actual flying height in the current flying state information, and calculating the total lift f of the body according to deviationdAdjusting the control command;
2.2) converting the expected flight direction and speed in the current control command into an adjustment control command of an expected flight attitude angle (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) according to an aircraft body motion model;
2.3) comparing expected flight attitude angles (a pitch angle theta a, a roll angle phi a and a yaw angle psi a) in the adjusting control command with actual flight attitude angles (the pitch angle theta a, the roll angle phi a and the yaw angle psi a) in the current flight state information, and calculating the adjusting control command of the pitching moment tau p, the rolling moment tau r and the yaw moment tau y of the body according to deviation;
and 2.4) if the control command is not received, the vehicle is in an attitude stable hovering control state, the expected pitch angle and the expected roll angle are 0, and the expected yaw angle keeps the previous step command unchanged.
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| CN114789790B (en) * | 2022-04-20 | 2024-06-07 | 北方工业大学 | Hovering flapping wing type aircraft and flight attitude control method thereof |
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