CN114313255A - A direct-drive miniature flapping rotor aircraft and its control method - Google Patents

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

A direct-drive miniature flapping rotor aircraft and its control method

technical field

The invention belongs to the technical field of micro-miniature aircraft, and in particular relates to a controllable flapping-rotor aircraft directly driven by a motor reciprocatingly and a control method thereof.

Background technique

Due to its size advantages, micro-miniature air vehicles have high mobility, high portability and excellent concealment, and have broad application prospects in civil and military fields such as personnel search and rescue, environmental monitoring, intelligence reconnaissance, and individual combat. "Flapping rotor" is a new type of configuration suitable for micro-aircraft proposed in recent years. It combines the flapping of the flapping wing with the rotary motion of the rotor, and is driven by the resistance generated by the asymmetrical flapping flapping motion. The powertrain rotates to generate additional lift for higher flight efficiency at low Reynolds numbers.

Most of the controllable flapping-rotor aircraft currently in existence are mechanically driven. For the mechanically driven flapping-rotor aircraft, each control degree of freedom needs to be realized by introducing an additional mechanism in the whole machine, thereby increasing the complexity of the control mechanism and the weight of the whole machine structure, which is a great advantage for the miniaturization and light-weighting of the flapping-rotor aircraft. come difficult.

SUMMARY OF THE INVENTION

In order to solve the problems of complex control mechanism and heavy structural weight of the existing mechanically driven flapping-rotor aircraft, a flapping-rotor aircraft based on the reciprocating direct drive of a motor (hereinafter referred to as direct drive) and its control method are proposed. The specific technical solutions are as follows:

A direct-drive miniature flapping rotor aircraft, comprising a pair of wings, a power unit, a fuselage, a control system, an energy module and a landing gear, wherein,

The power device, the control system and the energy module are all fixed on the fuselage, and the power device includes a first power mechanism and a second power mechanism;

The wing includes a wing A and a wing B, both of which are formed by bonding a support member 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 to the landing gear, and the fuselage has a rotational degree of freedom relative to the landing gear;

The control system is used to control the power plant, and the energy module is used to provide power for the control system and the power plant.

Further, the fuselage includes a frame, a fuselage strut A, a fuselage strut B and a landing gear connecting piece, wherein the frame provides a basis for positioning and installation of the power unit, and the frame The fuselage strut A and the fuselage strut B are identically connected to the landing gear connecting piece, and the bearing in the landing gear connecting piece is connected to the landing gear.

Further, the first power mechanism includes 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 the output shaft of the motor and meshes with the reduction gear, the reduction gear is fixed on its transmission shaft, and can rotate relative to the frame through the bearing on the transmission shaft; the One end of the torsion spring is connected with the transmission shaft of the reduction gear through the torsion spring fixing sleeve, and the other end is fixed on the frame for storing and releasing the kinetic energy of the reciprocating motion of the wing;

When the output of the motor reciprocates, the reduction gear drives its transmission shaft to rotate relative to the frame together with the torsion spring fixed bushing, and the torsion spring is connected to the torsion spring fixed bushing at this time One end of the frame will produce relative angular displacement with respect to the end fixed on the frame;

The structure of the second power mechanism is the same as that of the first power mechanism, and the first power mechanism can be overlapped with the second power mechanism after being rotated 180° around the center point of the longitudinal axis of the frame.

Further, the first power mechanism further includes a wing connecting piece and a wing limiting block, wherein the wing connecting piece is fixed on the reduction gear through a latch, and is used to connect the wing and the a reduction gear, the end of the wing passes through the through hole on the wing connector and is connected to the wing limit block, and the end of the wing is in the through hole on the wing connector The wing limiting block can be freely rotated, and the wing limiting block is clamped on the protruding part of the wing connecting piece through the fan-shaped card slot, so as to limit the passive variation range of the wing attack angle.

Further, the support member is used to support the wing membrane, including the leading edge spar of the wing, the wing diagonal strut, the wing strut A and the wing strut B, wherein,

One end of the main beam of the leading edge of the wing is connected with the power device through the wing connector, and flaps with the movement of the power device to generate lift, and the other end is connected with the wing diagonal brace at an acute angle Described wing strut A and described wing strut B are arranged in parallel, with described wing leading edge main beam and in 35°-45° angle, and described wing diagonal brace is 60°-70° clamp horn.

Further, the wing membrane is made of polyimide material, and the wing leading edge main spar, the wing diagonal strut, the wing strut A and the wing strut B are made of carbon fiber composite materials.

Further, the landing gear includes a central axis and a bracket, the central axis is connected to the fuselage through a bearing in the landing gear connecting piece, and the bracket is a bent rod made of carbon fiber composite The rotorcraft provides support on the ground.

Further, the control system includes a microcontroller, a motor driver and an angle sensor, the angle sensor is fixed on an output end of the motor, and feeds back the angle and angular velocity information to the microcontroller, and the motor driver uses for receiving the control signal of the microcontroller, and driving the motor to realize forward rotation, reverse rotation and to generate different rotational speeds;

The energy module includes 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 it to the The motor driver drives the motor to reciprocate.

A control method for a direct-drive miniature flapping rotor aircraft. The stiffness of the torsion spring and the moment of inertia of the wing make the rotating system composed of the wing, the reduction gear and the wing connection at the resonance frequency, and the output of the motor at the resonance frequency is controlled by controlling the motor. Reciprocating rotation, use the reduction gear to decelerate the motor output and drive the wings to flap up and down in the vertical plane, thereby generating upward lift and aerodynamic torque that makes the aircraft spin; The controller generates a sinusoidal control signal with a split feature, and drives the torsion spring-motor-wing on both sides respectively, so that the wings can generate different flapping and flapping speeds, so that the power output of the aircraft can be changed without additional mechanisms. feature, to realize the attitude control of the direct-drive flapping-rotor aircraft; specifically,

In one rotation cycle, when the aircraft expects to generate a leftward tilt angle, the microcontroller will generate two sinusoidal control signals with split characteristics; one of the signals is output to the motor driver on one side, which makes the side machine When the wing flaps down, the speed becomes faster, and when it flaps up, the speed becomes slower; the other signal is output to the motor driver on the other side, so that the speed of the wing on the side becomes faster when it flaps up, and the speed becomes slower when it flaps down. The lift increases, and the lift of the other wing decreases, forming a rolling moment to control the tilt of the aircraft;

Wherein, the sinusoidal control signal with the segmentation feature refers to the combination of two sinusoidal signals with different rate of change.

Further, the sinusoidal control signal with segmentation characteristics is:

Among them, u(t)=u(t+1/f), u is the input voltage of the motor, t is the time, V is the input voltage amplitude, f is the input voltage frequency; σ is the segmentation characteristic parameter, the value range is 0.2-0.8; when σ=0.5, the input voltage is a standard sinusoidal voltage.

The beneficial effects of the present invention are:

1. The present invention provides a direct drive mechanism that can realize the attitude control of each axis without an additional control mechanism. It adopts the direct drive of the motor, and applies signals distributed according to certain rules to the motor to make the motor perform high-frequency reciprocating motion, thereby Drive the wings to flap to provide lift; by changing the input signal of the motor to change the movement mode of the motor, the wings on both sides are driven to flap asymmetrically, thereby generating control torque, and the attitude control of the flapping rotor aircraft is performed without adding other controls. Mechanism; the structure is simpler and more compact, the volume and weight of the aircraft are smaller, the reliability is high, and the requirements of micro and small aircraft are better met.

2. The present invention is driven by a torsion spring-motor-wing system. By matching the stiffness of the torsion spring and the moment of inertia of the wing, the motor can work at the resonance point of the system, thereby generating a larger flapping amplitude and high flight efficiency.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below, and the features and advantages of the present invention will be more clearly understood by referring to the drawings. , the accompanying drawings are schematic and should not be construed as any limitation to the present invention. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative effort. in:

Fig. 1 is each system composition diagram of the direct-drive flapping rotor aircraft of the present invention;

Fig. 2 is the wing structure diagram of the direct-drive flapping-rotor aircraft of the present invention;

Fig. 3 is the power plant structure diagram of the direct-drive flapping-rotor aircraft of the present invention;

Fig. 4 is the sinusoidal signal with segmentation feature of the present invention;

Fig. 5 is the direct-drive micro flapping rotor experimental platform of the embodiment of the present invention;

Fig. 6 is the direct-drive miniature flapping rotor force measuring experiment result of the embodiment of the present invention;

FIG. 7 is the take-off process of the direct-drive micro flapping rotor according to the embodiment of the present invention.

Description of reference numbers:

1-wing A, 2-wing B, 3-power unit, 4-fuselage, 5-control system, 6-energy module, 7-landing gear, 101-wing leading edge spar, 102-wing membrane , 103-wing diagonal strut, 104-wing strut A, 105-wing strut B, 301-motor, 302-motor gear, 303-reduction gear, 304-torsion spring fixed bushing, 305-torsion spring, 306 - wing connector, 307 - wing stop, 401 - frame, 402 - fuselage strut A, 403 - fuselage strut B, 404 - landing gear connector.

Detailed ways

In order to understand the above objects, features and advantages of the present invention more clearly, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.

Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. Example limitations.

The invention adopts the direct drive of the motor, and by applying signals distributed according to certain rules to the motor, the motor performs high-frequency reciprocating motion, thereby driving the wings to flap to provide lift; by changing the input signal of the motor to change the movement mode of the motor, it drives the two The side wing flaps asymmetrically, thereby generating control torque and controlling the attitude of the flapping rotorcraft without adding other control mechanisms.

As shown in FIG. 1, a direct-drive miniature flapping rotor aircraft includes 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 unit 3, the control system 5 and the energy module 6 are all fixed on the fuselage 4, and the power unit 3 includes a first power mechanism and a second power mechanism;

The airfoil includes airfoil A1 and airfoil B2, both of which are formed by bonding the support member and the wing film 102, and are respectively connected with the first power mechanism and the second power mechanism of the power unit 3;

The fuselage 4 is connected to the landing gear 7, and the fuselage 4 has a rotational degree of freedom relative to the landing gear 7;

The control system 5 is used to control the power plant 3 , and the energy module 6 is used to provide power for the control system 5 and the power plant 3 .

In some embodiments, the fuselage 4 includes a frame 401, a fuselage strut A402, a fuselage strut B403, and a landing gear connector 404, wherein the frame 401 provides the basis for positioning and installation of the power plant, and the frame 401 The bearing in the landing gear connecting piece 404 is connected with the landing gear 7 through the identical fuselage strut A402 and the fuselage strut B403.

As shown in FIG. 3 , in some embodiments, the first power mechanism includes a motor 301 , a motor gear 302 , a reduction gear 303 , a torsion spring fixing sleeve 304 and a torsion spring 305 , wherein,

The motor gear 302 is fixed on the output shaft of the motor 301 and meshes with the reduction gear 303. The reduction gear 303 is fixed on its transmission shaft and can rotate relative to the frame 401 through the bearing on the transmission shaft; The spring fixed shaft sleeve 304 is connected with the transmission shaft of the reduction gear 303, and the other end is fixed on the frame 401 for storing and releasing the kinetic energy of the reciprocating motion of the wing;

When the output of the motor 301 reciprocates, the reduction gear 303 drives its transmission shaft to rotate relative to the frame 401 together with the torsion spring fixing sleeve 304. At this time, the end of the torsion spring 305 connected to the torsion spring fixing sleeve 304 will be relatively fixed A relative angular displacement occurs at one end on 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 overlapped with the second power mechanism after rotating 180° around the center point of the longitudinal axis of the frame 401 .

In some embodiments, the first power mechanism further includes 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 latch, for connecting the wing and the reduction gear 303 , the end of the wing is connected to the wing limit block 307 after passing through the through hole on the wing connector 306, the end of the wing can rotate freely in the through hole on the wing connector 306, and the wing limit block 307 is clamped on the protruding part of the wing connector 306 through the sector-shaped card slot, so as to limit the passive variation range of the wing angle of attack.

The motor gear 302 is fixed on the output shaft of the motor 301 . The motor gear 302 cooperates with the reduction gear 303 to form a reduction gear train with a reduction ratio of 10:1. The torsion spring fixing sleeve 304 fixes one end of the torsion spring 305 with the reduction gear 303 . , the other end is fixed on the frame 401, the wing connector 306 fixes the wing on the loss reduction gear 303, but does not restrict the rotation of the main beam 101 of the leading edge of the wing, and the wing limiter 307 connects the main beam of the leading edge of the wing The rotation of 101 is limited to a certain angle.

In some embodiments, as shown in FIG. 2 , the support member is used to support the wing membrane 102, including the wing leading edge spar 101, the wing diagonal struts 103, the wing struts A104 and the wing struts B105, wherein,

One end of the main beam 101 of the leading edge of the wing is connected with the power unit through the wing connector 306, and flaps with the movement of the power unit 3 to generate lift, and the other end is connected with the wing diagonal brace 103 at an acute angle; the wing brace A104 and The wing struts B105 are arranged in parallel and form an included angle of 35°-45° with the main beam 101 of the leading edge of the wing, and an included angle of 60°-70° with the wing diagonal struts 103 .

In some embodiments, the wing membrane 102 is made of polyimide material, and the wing leading edge main spar 101 , the wing diagonal struts 103 , the wing struts A104 and the wing struts B105 are made of carbon fiber composite materials.

Taking the wing A1 as an example, it includes a leading edge main beam 101 with a diameter of 1 mm, a polyimide wing film 102 with a thickness of 0.012 mm, a wing diagonal strut 103 with a thickness of 0.1 mm, and a wing strut A104 with a diameter of 0.5 mm. The wing strut B105 with a diameter of 0.5mm, the main beam 101 of the leading edge of the wing is connected with the power device 3 through the wing connector 306, and flaps with the movement of the power device 3 to generate lift.

In some embodiments, the landing gear 7 includes a central axis and a bracket, the central axis is connected to the fuselage 4 through the bearing in the landing gear connecting piece 404 , and the bracket is a bent rod made of carbon fiber composite material, which is used for the flapping-rotor aircraft Provide support on the ground.

In some embodiments, the control system includes 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 the angle and angular velocity information to the microcontroller, and the motor driver is used to receive the information of the microcontroller. control signal, and drive the motor 301 to realize forward rotation, reverse rotation and generate different rotational speeds;

The energy module includes a lithium-ion battery and a booster module, the output voltage of the lithium-ion battery directly supplies power to the microcontroller, and the booster module boosts the input voltage of the lithium-ion battery and outputs it to the motor driver to drive the motor 301 to reciprocate; 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 for a direct-drive miniature flapping rotor aircraft. The stiffness of the torsion spring and the moment of inertia of the wing make the rotating system composed of the wing, the reduction gear and the wing connection at the resonance frequency, and the output of the motor at the resonance frequency is controlled by controlling the motor. Reciprocating rotation, use the reduction gear to decelerate the motor output and drive the wings to flap up and down in the vertical plane, thereby generating upward lift and aerodynamic torque that makes the aircraft spin; The controller generates a sinusoidal control signal with a split feature, and drives the torsion spring-motor-wing on both sides respectively, so that the wings can generate different flapping and flapping speeds, so that the power output of the aircraft can be changed without additional mechanisms. feature, to realize the attitude control of the direct-drive flapping-rotor aircraft; specifically,

In one rotation cycle, when the aircraft expects to generate a leftward tilt angle, the microcontroller will generate two sinusoidal control signals with split characteristics; one of the signals is output to the motor driver on one side, which makes the side machine When the wing flaps down, the speed becomes faster, and when it flaps up, the speed becomes slower; the other signal is output to the motor driver on the other side, so that the speed of the wing on the side becomes faster when it flaps up, and the speed becomes slower when it flaps down. The lift increases, and the lift of the other wing decreases, forming a rolling moment to control the tilt of the aircraft;

Wherein, the sinusoidal control signal with the segmentation feature refers to the combination of two sinusoidal signals with different rate of change.

As shown in Figure 4, the sinusoidal control signal with segmentation characteristics is:

Among them, u(t)=u(t+1/f), u is the input voltage of the motor, t is the time, V is the input voltage amplitude, f is the input voltage frequency; σ is the segmentation characteristic parameter, the value range is 0.2-0.8; when σ=0.5, the input voltage is a standard sinusoidal voltage.

In order to facilitate the understanding of the above-mentioned technical solutions of the present invention, the above-mentioned technical solutions of the present invention will be described in detail below through specific embodiments.

Example 1

According to the aforementioned process, a direct-drive miniature flapping-rotor aircraft prototype was produced, with a wingspan of about 85mm and a weight of 12g (excluding energy modules).

The experimental prototype is fixed on the experimental platform as shown in Figure 5, and the prototype and the uniaxial force sensor are connected through a freely rotatable conductive slip ring. The conductive slip ring includes a dynamic conductive slip ring and a static conductive slip ring. The relative rotation can ensure the continuous power supply of the prototype. One end of the uniaxial force sensor is fixed on the experimental platform, and the other end is connected to the conductive slip ring through a connector.

During the experiment, a regulated power supply was used instead of the energy module to supply power to the prototype, and the voltage signal measured by the uniaxial force sensor amplified by the amplifier was obtained through the data collector, and converted into force data according to the range of the pre-calibrated force sensor.

The results of the force measurement experiment are shown in Figure 6. The flutter frequency of the test prototype is set to 27Hz, the input voltage of the regulated power supply is 20V, and the sampling time is 4 seconds. Select a period of time when the flutter is relatively stable to calculate the average lift, and the calculated average lift is 12.7gf.

In addition, the pull-off experiment of the direct-drive flapping rotor aircraft was carried out. The prototype was fixed on the take-off bench and powered by a regulated power supply. The power supply voltage was 24V, the length of the power supply line was about 0.5m, and the line weight was about 2g. Use a high-speed camera to film the take-off process with a frame rate of 1000fps. The take-off process of the direct-drive micro flapping rotorcraft is shown in Figure 7. The take-off process lasts about 1s, the climb height is about 0.50m, and the take-off attitude is stable.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

In the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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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