CN114313255A - Direct-drive type miniature flapping rotor wing aircraft and control method thereof - Google Patents
Direct-drive type miniature flapping rotor wing aircraft and control method thereof Download PDFInfo
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- CN114313255A CN114313255A CN202210082944.2A CN202210082944A CN114313255A CN 114313255 A CN114313255 A CN 114313255A CN 202210082944 A CN202210082944 A CN 202210082944A CN 114313255 A CN114313255 A CN 114313255A
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Abstract
The invention discloses a direct-drive miniature flapping rotor wing aircraft and a control method thereof, wherein the aircraft comprises two wings, an aircraft body, an undercarriage, a power device, a control system and an energy module, two direct current motors directly drive the two wings to flap up and down to generate lift force and couple for enabling the aircraft to rotate passively, so that stable flight is realized; the control method comprises the following steps: and applying a sine control signal with a segmentation characteristic to the system, and changing the motion mode of the motor to drive the wings on the two sides to carry out asymmetric flapping so as to form a control moment to control the attitude of the aircraft. The invention discloses a direct-drive mechanism capable of realizing attitude control without an additional control mechanism, which has simpler and more compact structure, smaller volume and weight of an aircraft and high reliability, and better meets the requirements of a micro aircraft; the torsion spring-motor-wing resonance system is adopted for driving, and the motor can work at a system resonance point, so that a large flapping amplitude is generated, and the flying efficiency is high.
Description
Technical Field
The invention belongs to the technical field of micro aircrafts, and particularly relates to a controllable flapping rotor aircraft directly driven by a motor in a reciprocating manner and a control method thereof.
Background
Due to the advantages of the size, the micro aircraft has high maneuverability, high portability and excellent concealment, and has wide application prospects in civil and military fields such as personnel search and rescue, environmental monitoring, information investigation, individual combat and the like. The flapping rotor wing is a novel configuration suitable for a micro aircraft, which is proposed in recent years, the flapping of the flapping wing is combined with the rotary motion of the rotor wing, and the resistance generated when the flapping on the asymmetric flapping wing moves drives a power mechanism to rotate, so that extra lift force is generated, and higher flight efficiency under low Reynolds number is realized.
The controllable flapping rotor craft that exists at present is mostly mechanical drive. For a mechanically-driven flapping rotor aircraft, each degree of freedom of control needs to be realized by introducing an additional mechanism into the whole aircraft, so that the complexity of the control mechanism and the structural weight of the whole aircraft are increased, and the difficulty is brought to the miniaturization and the light weight of the flapping rotor aircraft.
Disclosure of Invention
In order to solve the problems of complex control mechanism and heavy structure weight of the existing mechanical drive flapping rotor craft, the flapping rotor craft based on the reciprocating direct drive (hereinafter referred to as direct drive) of a motor and the control method thereof are provided, and the specific technical scheme is as follows:
a direct-drive miniature flapping rotor wing aircraft comprises a pair of wings, a power device, an aircraft body, a control system, an energy module and an undercarriage, wherein,
the power device, the control system and the energy module are all fixed on the body, and the power device comprises a first power mechanism and a second power mechanism;
the wing comprises a wing A and a wing B, which are formed by bonding a supporting part and a wing film and are respectively connected with the first power mechanism and the second power mechanism of the power device;
the fuselage is connected with the undercarriage and has one degree of rotational freedom relative to the undercarriage;
the control system is used for controlling the power device, and the energy module is used for providing power for the control system and the power device.
Further, the aircraft body comprises a rack, an aircraft body stay bar A, an aircraft body stay bar B and an undercarriage connecting piece, wherein the rack provides a positioning and mounting basis for the power device, the rack is connected with the undercarriage connecting piece through the identical aircraft body stay bar A and the aircraft body stay bar B, and a bearing in the undercarriage connecting piece is connected with the undercarriage.
Further, the first power mechanism comprises a motor, a motor gear, a reduction gear, a torsion spring fixing shaft sleeve and a torsion spring, wherein,
the motor gear is fixed on an output shaft of the motor and is meshed with the reduction gear, and the reduction gear is fixed on a transmission shaft of the motor gear and can rotate relative to the rack through a bearing on the transmission shaft; one end of the torsion spring is connected with the transmission shaft of the reduction gear through the torsion spring fixing shaft sleeve, and the other end of the torsion spring is fixed on the rack and used for storing and releasing kinetic energy of the reciprocating motion of the wings;
when the motor outputs reciprocating rotation, the reduction gear drives the transmission shaft and the torsion spring fixing shaft sleeve to rotate together relative to the rack, and at the moment, one end of the torsion spring connected to the torsion spring fixing shaft sleeve generates relative angular displacement relative to one end fixed on the rack;
the structure of the second power mechanism is the same as that of the first power mechanism, and the first power mechanism can be superposed with the second power mechanism after rotating 180 degrees around the center point of the longitudinal axis of the frame.
Further, first power unit still includes wing connecting piece and wing stopper, wherein, the wing connecting piece passes through the bolt to be fixed on the reduction gear, be used for connecting the wing with reduction gear, the end of wing passes behind the through-hole on the wing connecting piece with the wing stopper is connected, the end of wing is in can free rotation in the through-hole on the wing connecting piece, the wing stopper passes through fan-shaped draw-in groove card the extension of wing connecting piece is used for restricting the passive change range of wing angle of attack.
Further, the support component is used for supporting the wing membrane and comprises a wing leading edge main girder, a wing diagonal bracing piece, a wing bracing rod A and a wing bracing rod B, wherein,
one end of the wing leading edge main beam is connected with the power device through the wing connecting piece, the wing leading edge main beam flaps along with the motion of the power device to generate lift force, and the other end of the wing leading edge main beam is connected with the wing inclined supporting piece in an acute angle; the wing stay bar A and the wing stay bar B are arranged in parallel, form an included angle of 35-45 degrees with the main beam of the front edge of the wing, and form an included angle of 60-70 degrees with the wing diagonal bracing piece.
Further, the wing membrane is made of polyimide, and the wing leading edge main beam, the wing diagonal bracing piece, the wing brace rod A and the wing brace rod B are made of carbon fiber composite materials.
Furthermore, the landing gear comprises a middle shaft and a support, the middle shaft penetrates through a bearing in the landing gear connecting piece to be connected with the aircraft body, and the support is a bent rod made of carbon fiber composite materials and used for providing support for the flapping rotor aircraft on the ground.
Further, the control system comprises a microcontroller, a motor driver and an angle sensor, wherein the angle sensor is fixed at one output end of the motor and feeds angle and angular speed information back to the microcontroller, and the motor driver is used for receiving a control signal of the microcontroller and driving the motor to realize forward rotation and reverse rotation and generate different rotating speeds;
the energy module comprises a lithium ion battery and a boosting module, the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boosting module boosts the input voltage of the lithium ion battery and outputs the boosted voltage to the motor driver to drive the motor to rotate in a reciprocating mode.
A control method of a direct-drive type micro flapping rotor wing aircraft is characterized in that the rigidity of a torsional spring and the rotational inertia of a wing enable a rotating system composed of the wing, a reduction gear and a wing connecting piece to be under a resonance frequency, the motor is controlled to output reciprocating rotation under the resonance frequency, the motor is output to be decelerated by the reduction gear and the wing is driven to flap up and down in a vertical plane, and therefore upward lifting force and aerodynamic torque enabling the aircraft to spin are generated; in the self-rotating process of the aircraft, the microcontroller generates a sine control signal with a segmentation characteristic through a periodic control method, and the sine control signal drives the torsion springs, the motors and the wings on two sides respectively, so that the wings generate different upper flapping speeds and lower flapping speeds, the power output characteristic of the aircraft can be changed without an additional mechanism, and the attitude control of the direct-drive flapping rotor aircraft is realized; in particular, the amount of the solvent to be used,
in a rotation period, when the aircraft expects to generate a leftward inclination angle, the microcontroller respectively generates two sinusoidal control signals with a slicing characteristic; one signal is output to a motor driver on one side, so that the speed of the wing on the side is increased when flapping downwards and is decreased when flapping upwards; the other path of signal is output to the motor driver on the other side, so that the speed of the wing on the side is increased when flapping upwards and is reduced when flapping downwards, the lifting force of the wing on one side is increased, the lifting force of the wing on the other side is reduced, and a rolling torque is formed to control the inclination of the aircraft;
the sinusoidal control signal with the slicing feature is to combine two sinusoidal signals with different change rates.
Further, the sinusoidal control signal with the slicing feature is:
where u (t) is u (t +1/f), u is the input voltage of the motor, t is time, V is the input voltage amplitude, f is the input voltage frequency; sigma is a segmentation characteristic parameter, and the value range is 0.2-0.8; when σ is 0.5, the input voltage is a standard sinusoidally varying voltage.
The invention has the beneficial effects that:
1. the invention provides a direct-drive mechanism which can realize the attitude control of each axis without an additional control mechanism, adopts the direct drive of a motor, and applies signals distributed according to a certain rule to the motor to ensure that the motor carries out high-frequency reciprocating motion so as to drive wings to flap and provide lift force; the input signal of the motor is changed to change the motion mode of the motor, so that wings on two sides are driven to perform asymmetric flapping, control torque is generated, and the attitude of the flapping rotor wing aircraft is controlled without adding other control mechanisms; the structure is simpler and more compact, the volume and the weight of the aircraft are smaller, the reliability is high, and the requirements of the micro aircraft are better met.
2. The invention adopts a torsion spring-motor-wing system for driving, and the motor can work at a system resonance point by matching the rigidity of the torsion spring and the rotational inertia of the wing, thereby generating larger flapping amplitude and having high flying efficiency.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a block diagram of the components of the direct drive flapping rotor aircraft of the present invention;
FIG. 2 is a wing structure view of the direct drive flapping rotor aircraft of the present invention;
FIG. 3 is a block diagram of the power plant of the direct drive flapping rotor aircraft of the present invention;
FIG. 4 is a sinusoidal signal with a slicing feature of the present invention;
FIG. 5 is a direct-drive miniature flapping rotor experimental platform according to an embodiment of the present invention;
FIG. 6 shows the force measurement experiment results of the direct-drive miniature flapping rotor according to the embodiment of the invention;
fig. 7 shows the take-off process of the direct-drive miniature flapping rotor wing according to the embodiment of the invention.
Description of reference numerals:
1-wing a, 2-wing B, 3-power plant, 4-fuselage, 5-control system, 6-energy module, 7-landing gear, 101-wing leading edge main beam, 102-wing membrane, 103-wing diagonal bracing piece, 104-wing bracing rod a, 105-wing bracing rod B, 301-motor, 302-motor gear, 303-reduction gear, 304-torsion spring fixed shaft sleeve, 305-torsion spring, 306-wing connecting piece, 307-wing limiting block, 401-frame, 402-fuselage bracing rod a, 403-fuselage bracing rod B, 404-landing gear connecting piece.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The invention adopts the direct drive of the motor, and applies signals distributed according to a certain rule to the motor to enable the motor to carry out high-frequency reciprocating motion, thereby driving wings to flap and providing lift force; the input signal of the motor is changed to change the motion mode of the motor, so that wings on two sides are driven to perform asymmetric flapping, control torque is generated, and attitude control is performed on the flapping rotor aircraft without adding other control mechanisms.
As shown in fig. 1, a direct drive miniature flapping rotor aircraft comprises a pair of wings, a power unit 3, a fuselage 4, a control system 5, an energy module 6, and a landing gear 7, wherein,
the power device 3, the control system 5 and the energy module 6 are all fixed on the machine body 4, and the power device 3 comprises a first power mechanism and a second power mechanism;
the wing comprises a wing A1 and a wing B2, which are formed by bonding a support part and a wing film 102 and are respectively connected with a first power mechanism and a second power mechanism of the power device 3;
the fuselage 4 is connected with the undercarriage 7, and the fuselage 4 has one degree of freedom of rotation relative to the undercarriage 7;
the control system 5 is used for controlling the power plant 3, and the energy module 6 is used for supplying power to the control system 5 and the power plant 3.
In some embodiments, the fuselage 4 comprises a frame 401, a fuselage stay a402, a fuselage stay B403 and a landing gear attachment 404, wherein the frame 401 provides the basis for positioning and mounting of the power plant, the frame 401 is connected to the landing gear attachment 404 by the identical fuselage stay a402 and fuselage stay B403, and the bearings in the landing gear attachment 404 are connected to the landing gear 7.
As shown in fig. 3, in some embodiments, the first power mechanism comprises a motor 301, a motor gear 302, a reduction gear 303, a torsion spring fixing bushing 304, and a torsion spring 305, wherein,
the motor gear 302 is fixed on the output shaft of the motor 301 and is meshed with the reduction gear 303, and the reduction gear 303 is fixed on the transmission shaft and can rotate relative to the frame 401 through a bearing on the transmission shaft; one end of the torsion spring 305 is connected with a transmission shaft of the reduction gear 303 through a torsion spring fixing shaft sleeve 304, and the other end of the torsion spring is fixed on the rack 401 and used for storing and releasing kinetic energy of reciprocating motion of the wings;
when the motor 301 outputs reciprocating rotation, the reduction gear 303 drives the transmission shaft thereof to rotate together with the torsion spring fixing shaft sleeve 304 relative to the frame 401, and at this time, one end of the torsion spring 305 connected to the torsion spring fixing shaft sleeve 304 generates relative angular displacement relative to one end fixed to the frame 401.
The structure of the second power mechanism is the same as that of the first power mechanism, and the first power mechanism can be superposed with the second power mechanism after rotating 180 degrees around the central point of the longitudinal axis of the frame 401.
In some embodiments, the first power mechanism further includes a wing connector 306 and a wing stopper 307, wherein the wing connector 306 is fixed on the reduction gear 303 through a bolt and is used for connecting the wing with the reduction gear 303, the tail end of the wing passes through a through hole on the wing connector 306 and then is connected with the wing stopper 307, the tail end of the wing can freely rotate in the through hole on the wing connector 306, and the wing stopper 307 is clamped on the extending portion of the wing connector 306 through a sector slot and is used for limiting the passive variation range of the wing attack angle.
The motor gear 302 is fixedly connected to an output shaft of the motor 301, the motor gear 302 and the reduction gear 303 are matched to form a reduction gear train with a reduction ratio of 10:1, one end of a torsion spring 305 is fixed to the reduction gear 303 through a torsion spring fixing shaft sleeve 304, the other end of the torsion spring is fixed to the rack 401, the wing connecting piece 306 fixes the wing to the loss reduction gear 303, the rotation of the wing leading edge main beam 101 is not limited, and the wing limit 307 limits the rotation of the wing leading edge main beam 101 to a certain angle.
In some embodiments, as shown in fig. 2, the support component is used to support the airfoil membrane 102, including the leading edge spar 101, the airfoil sprag 103, the airfoil strut a104, and the airfoil strut B105, wherein,
one end of the wing leading edge main beam 101 is connected with the power device through a wing connecting piece 306, flaps along with the movement of the power device 3 to generate lift force, and the other end of the wing leading edge main beam is connected with the wing inclined strut piece 103 in an acute angle; the wing stay bar A104 and the wing stay bar B105 are arranged in parallel, form an included angle of 35-45 degrees with the main beam 101 of the wing leading edge and form an included angle of 60-70 degrees with the wing inclined stay piece 103.
In some embodiments, the wing membrane 102 is made of polyimide, and the wing leading edge spar 101, the wing sprag 103, the wing strut a104, and the wing strut B105 are made of carbon fiber composite.
Taking the wing A1 as an example, the wing A1 comprises a wing leading edge girder 101 with the diameter of 1mm, a polyimide wing film 102 with the thickness of 0.012mm, a wing diagonal bracing piece 103 with the thickness of 0.1mm, a wing bracing rod a104 with the diameter of 0.5mm and a wing bracing rod B105 with the diameter of 0.5mm, wherein the wing leading edge girder 101 is connected with the power device 3 through a wing connecting piece 306 and flaps along with the movement of the power device 3 to generate a lift force.
In some embodiments, the landing gear 7 comprises a central shaft connected to the fuselage 4 through bearings in the landing gear attachment 404, and a cradle, which is a curved rod made of carbon fiber composite material, for providing support for the flapping rotorcraft on the ground.
In some embodiments, the control system includes a microcontroller, a motor driver, and an angle sensor, the angle sensor is fixed to an output end of the motor 301, and feeds back angle and angular velocity information to the microcontroller, the motor driver is configured to receive a control signal from the microcontroller and drive the motor 301 to rotate forward and backward and generate different rotation speeds;
the energy module comprises a lithium ion battery and a boosting module, wherein the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boosting module boosts the input voltage of the lithium ion battery and outputs the boosted voltage to the motor driver to drive the motor 301 to rotate in a reciprocating manner; preferably, the output voltage of the lithium ion battery is 7.4-8.4V, and the boost module boosts the output voltage of the lithium ion battery to 28V to supply power to the motor driver.
A control method of a direct-drive type micro flapping rotor wing aircraft is characterized in that the rigidity of a torsional spring and the rotational inertia of a wing enable a rotating system composed of the wing, a reduction gear and a wing connecting piece to be under a resonance frequency, the motor is controlled to output reciprocating rotation under the resonance frequency, the motor is output to be decelerated by the reduction gear and the wing is driven to flap up and down in a vertical plane, and therefore upward lifting force and aerodynamic torque enabling the aircraft to spin are generated; in the self-rotating process of the aircraft, the microcontroller generates a sine control signal with a segmentation characteristic through a periodic control method, and the sine control signal drives the torsion springs, the motors and the wings on two sides respectively, so that the wings generate different upper flapping speeds and lower flapping speeds, the power output characteristic of the aircraft can be changed without an additional mechanism, and the attitude control of the direct-drive flapping rotor aircraft is realized; in particular, the amount of the solvent to be used,
in a rotation period, when the aircraft expects to generate a leftward inclination angle, the microcontroller respectively generates two sinusoidal control signals with a slicing characteristic; one signal is output to a motor driver on one side, so that the speed of the wing on the side is increased when flapping downwards and is decreased when flapping upwards; the other path of signal is output to the motor driver on the other side, so that the speed of the wing on the side is increased when flapping upwards and is reduced when flapping downwards, the lifting force of the wing on one side is increased, the lifting force of the wing on the other side is reduced, and a rolling torque is formed to control the inclination of the aircraft;
the sinusoidal control signal with the slicing feature is to combine two sinusoidal signals with different change rates.
As shown in fig. 4, the sinusoidal control signal with the slicing feature is:
where u (t) is u (t +1/f), u is the input voltage of the motor, t is time, V is the input voltage amplitude, f is the input voltage frequency; sigma is a segmentation characteristic parameter, and the value range is 0.2-0.8; when σ is 0.5, the input voltage is a standard sinusoidally varying voltage.
For the convenience of understanding the above technical aspects of the present invention, the following detailed description will be given of the above technical aspects of the present invention by way of specific examples.
Example 1
The direct-drive miniature flapping-rotor aircraft prototype is manufactured according to the process, the wingspan is about 85mm, and the total weight is 12g (without an energy module).
The experimental prototype is fixed on an experimental platform shown in figure 5, and the prototype and the single-axis force sensor are connected through a conductive slip ring capable of rotating freely, wherein the conductive slip ring comprises a movable conductive slip ring and a static conductive slip ring which rotate relatively and can ensure continuous power supply of the prototype, one end of the single-axis force sensor is fixed on the experimental platform, and the other end of the single-axis force sensor is connected with the conductive slip ring through a connecting piece.
In the experimental process, a sample machine is powered by using a stabilized voltage supply instead of an energy module, a voltage signal measured by the single-axis force sensor amplified by the amplifier is obtained by the data acquisition unit, and the voltage signal is converted into force data according to the pre-calibrated measuring range of the force sensor.
The results of the force measurement experiment are shown in FIG. 6, the flapping frequency of the test prototype is set to be 27Hz, the input voltage of the voltage-stabilized power supply is 20V, and the sampling time is 4 seconds. And selecting a period of time with stable flapping for calculating the average lift force, wherein the calculated average lift force is 12.7 gf.
In addition, a wire-pulling takeoff experiment of the direct-drive flapping rotor aircraft is carried out, a prototype is fixed on a takeoff rack, a stabilized voltage power supply is used for supplying power, the power supply voltage is 24V, the length of the power supply wire is about 0.5m, and the weight of the power supply wire is about 2 g. And (3) shooting the take-off process by using a high-speed camera, wherein the shooting frame rate is 1000 fps. The takeoff process of the direct-drive miniature flapping rotor aircraft is shown in fig. 7, the duration time of the takeoff process is about 1s, the climbing height is about 0.50m, and the takeoff attitude is stable.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the present invention, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A direct-drive miniature flapping rotor wing aircraft is characterized by comprising a pair of wings, a power device (3), an aircraft body (4), a control system (5), an energy module (6) and an undercarriage (7), wherein,
the power device (3), the control system (5) and the energy module (6) are all fixed on the machine body (4), and the power device (3) comprises a first power mechanism and a second power mechanism;
the wing comprises a wing A (1) and a wing B (2), which are formed by bonding a support part and a wing film (102) and are respectively connected with the first power mechanism and the second power mechanism of the power device (3);
the fuselage (4) is connected with the undercarriage (7), and the fuselage (4) has one degree of freedom of rotation relative to the undercarriage (7);
the control system (5) is used for controlling the power device (3), and the energy module (6) is used for providing power for the control system (5) and the power device (3).
2. The direct drive miniature flapping rotary wing aircraft according to claim 1, wherein the fuselage (4) comprises a frame (401), a fuselage strut a (402), a fuselage strut B (403), and a landing gear attachment (404), wherein the frame (401) provides a basis for positioning and mounting of the power plant, the frame (401) is connected to the landing gear attachment (404) through the identical fuselage strut a (402) and fuselage strut B (403), and a bearing in the landing gear attachment (404) is connected to the landing gear (7).
3. The direct drive miniature flapping rotary wing aircraft of claim 2, wherein the first power mechanism comprises a motor (301), a motor gear (302), a reduction gear (303), a torsion spring fixed bushing (304), and a torsion spring (305),
the motor gear (302) is fixed on an output shaft of the motor (301) and is meshed with the reduction gear (303), and the reduction gear (303) is fixed on a transmission shaft of the motor gear and can rotate relative to the rack (401) through a bearing on the transmission shaft; one end of the torsion spring (305) is connected with a transmission shaft of the reduction gear (303) through the torsion spring fixing shaft sleeve (304), and the other end of the torsion spring (305) is fixed on the rack (401) and used for storing and releasing kinetic energy of the reciprocating motion of the wings;
when the motor (301) outputs reciprocating rotation, the reduction gear (303) drives a transmission shaft of the reduction gear and the torsion spring fixing shaft sleeve (304) to rotate relative to the rack (401), and at the moment, one end of the torsion spring (305) connected to the torsion spring fixing shaft sleeve (304) generates relative angular displacement relative to one end fixed on the rack (401);
the structure of the second power mechanism is the same as that of the first power mechanism, and the first power mechanism can be superposed with the second power mechanism after rotating for 180 degrees around the central point of the longitudinal axis of the frame (401).
4. The direct-drive miniature flapping-rotor aircraft according to claim 3, wherein the first power mechanism further comprises a wing connecting piece (306) and a wing limiting block (307), wherein the wing connecting piece (306) is fixed on the reduction gear (303) through a bolt for connecting the wing with the reduction gear (303), the tail end of the wing passes through a through hole on the wing connecting piece (306) and then is connected with the wing limiting block (307), the tail end of the wing can freely rotate in the through hole on the wing connecting piece (306), and the wing limiting block (307) is clamped on the extending part of the wing connecting piece (306) through a fan-shaped clamping groove for limiting the passive variation range of the angle of attack.
5. The direct drive miniature flapping rotary wing aircraft of one of claims 1-4, wherein said support component is configured to support said wing membrane (102) and comprises a leading edge spar (101), a wing brace strut (103), a wing brace strut A (104), and a wing brace strut B (105),
one end of the wing leading edge main beam (101) is connected with the power device through the wing connecting piece (306), flaps along with the motion of the power device (3) to generate lift force, and the other end of the wing leading edge main beam is connected with the wing inclined supporting piece (103) in an acute angle; the wing stay bar A (104) and the wing stay bar B (105) are arranged in parallel, form an included angle of 35-45 degrees with the wing leading edge main beam (101), and form an included angle of 60-70 degrees with the wing inclined stay sheet (103).
6. The direct drive miniature flapping rotorcraft of claim 5, wherein the wing membrane (102) is polyimide, and the leading edge spar (101), wing diagonal brace (103), wing strut A (104), and wing strut B (105) are made of carbon fiber composite.
7. A direct drive miniature flapping rotary wing aircraft according to any of claims 2-4, wherein said landing gear (7) comprises a central shaft connected to said fuselage (4) through bearings in said landing gear attachment (404), and a cradle, which is a curved rod made of carbon fiber composite material, for providing support of the flapping rotary wing aircraft on the ground.
8. The direct-drive miniature flapping-rotor aircraft according to claim 3 or 4, wherein the control system comprises a microcontroller, a motor driver, and an angle sensor, the angle sensor is fixed at one output end of the motor (301) and feeds back angle and angular speed information to the microcontroller, and the motor driver is used for receiving a control signal of the microcontroller and driving the motor (301) to realize forward rotation and reverse rotation and generate different rotation speeds;
the energy module comprises a lithium ion battery and a boosting module, the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boosting module boosts the input voltage of the lithium ion battery and outputs the boosted voltage to the motor driver to drive the motor (301) to rotate in a reciprocating mode.
9. The control method of the direct-drive miniature flapping rotor wing aircraft according to any one of claims 1-8, wherein the stiffness of the torsion spring and the rotational inertia of the wing make the rotating system composed of the wing, the reduction gear and the wing connecting piece under the resonance frequency, the motor output is decelerated by the reduction gear and the wing is driven to flap up and down in the vertical plane by controlling the reciprocating rotation of the motor output under the resonance frequency, so as to generate an upward lift force and an aerodynamic moment for enabling the aircraft to spin; in the self-rotating process of the aircraft, the microcontroller generates a sine control signal with a segmentation characteristic through a periodic control method, and the sine control signal drives the torsion springs, the motors and the wings on two sides respectively, so that the wings generate different upper flapping speeds and lower flapping speeds, the power output characteristic of the aircraft can be changed without an additional mechanism, and the attitude control of the direct-drive flapping rotor aircraft is realized; in particular, the amount of the solvent to be used,
in a rotation period, when the aircraft expects to generate a leftward inclination angle, the microcontroller respectively generates two sinusoidal control signals with a slicing characteristic; one signal is output to a motor driver on one side, so that the speed of the wing on the side is increased when flapping downwards and is decreased when flapping upwards; the other path of signal is output to the motor driver on the other side, so that the speed of the wing on the side is increased when flapping upwards and is reduced when flapping downwards, the lifting force of the wing on one side is increased, the lifting force of the wing on the other side is reduced, and a rolling torque is formed to control the inclination of the aircraft;
the sinusoidal control signal with the slicing feature is to combine two sinusoidal signals with different change rates.
10. The method of controlling a direct drive miniature ornithopter according to claim 9 wherein the sinusoidal control signal with the split feature is:
where u (t) is u (t +1/f), u is the input voltage of the motor, t is time, V is the input voltage amplitude, f is the input voltage frequency; sigma is a segmentation characteristic parameter, and the value range is 0.2-0.8; when σ is 0.5, the input voltage is a standard sinusoidally varying voltage.
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