CN114313255B - Direct-drive miniature flapping rotor wing aircraft and control method thereof - Google Patents
Direct-drive miniature flapping rotor wing aircraft and control method thereof Download PDFInfo
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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, a fuselage, landing gear, a power device, a control system and an energy module, wherein the two wings are directly driven by two direct-current motors to flap up and down, so that lift force is generated and a couple which enables the aircraft to passively rotate is generated, and stable flight is realized; the control method comprises the following steps: and (3) applying a sinusoidal control signal with a segmentation characteristic to the system, changing the motion mode of the motor to drive the wings at two sides to perform asymmetric flapping, and forming a control moment to control the attitude of the aircraft. The invention discloses a direct-drive mechanism capable of realizing gesture control without an additional control mechanism, which has simpler and more compact structure, smaller volume and weight of an aircraft, high reliability and better meets the requirements of a microminiature aircraft; the torsion spring-motor-wing resonance system is adopted for driving, and the motor can work at a system resonance point, so that larger flapping amplitude is generated, and the flight efficiency is high.
Description
Technical Field
The invention belongs to the technical field of microminiature aircrafts, and particularly relates to a controllable flapping rotor wing aircraft driven by a motor directly in a reciprocating manner and a control method thereof.
Background
Due to the scale advantages, the microminiature 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, environment monitoring, intelligence investigation, individual combat and the like. The flapping rotor wing is a novel configuration which is suitable for a microminiature aircraft in recent years, the flapping of the flapping wing and the rotary motion of the rotor wing are combined, and the resistance generated during the flapping motion of the asymmetric flapping wing is used for driving a power mechanism to rotate, so that additional lifting force is generated, and higher flight efficiency under a low Reynolds number is realized.
Currently, most of the existing controllable flapping rotor craft are driven mechanically. For a mechanically driven flapping rotor aircraft, each control degree of freedom is realized by introducing an additional mechanism into the whole aircraft, so that the complexity of the control mechanism and the weight of the whole aircraft structure are increased, and the miniaturization and the light weight of the flapping rotor aircraft are difficult.
Disclosure of Invention
In order to solve the problems of complex control mechanism and large structural weight of the traditional mechanical driving flapping-rotor aircraft, the invention provides a flapping-rotor aircraft based on motor reciprocating direct driving (hereinafter referred to as direct driving) and a control method thereof, and the specific technical scheme is as follows:
a direct-drive miniature flapping rotor aircraft comprises a pair of wings, a power device, 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 machine 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 body is connected with the landing gear, and has a rotational degree of freedom relative to the landing gear;
the control system is used for controlling the power device, and the energy source module is used for providing power for the control system and the power device.
Further, the fuselage includes frame, fuselage stay a, fuselage stay B and undercarriage connecting piece, wherein, the frame for power device provides the basis of location and installation, the frame through identical fuselage stay a with fuselage stay B with the undercarriage connecting piece links to each other, the bearing in the undercarriage connecting piece with the undercarriage is connected.
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 meshed with the reduction gear, the reduction gear is fixed on a transmission shaft of the motor gear, and the reduction gear can rotate relative to the frame through a bearing on the transmission shaft; one end of the torsion spring is connected with a 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 frame and is used for storing and releasing the kinetic energy of the wing reciprocating motion;
when the motor outputs reciprocating rotation, the reduction gear drives the transmission shaft of the reduction gear and the torsion spring fixing shaft sleeve to rotate together relative to the frame, and at the moment, one end of the torsion spring connected to the torsion spring fixing shaft sleeve can generate relative angular displacement relative to one 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 rotating 180 degrees around the longitudinal axis center point of the frame.
Further, the first power mechanism further comprises a wing connecting piece and a wing limiting block, wherein the wing connecting piece is fixed on the reduction gear through a bolt and used for connecting the wing with the reduction gear, the tail end of the wing passes through a through hole in the wing connecting piece and then is connected with the wing limiting block, the tail end of the wing can freely rotate in the through hole in the wing connecting piece, and the wing limiting block is clamped on the extending part of the wing connecting piece through a fan-shaped clamping groove and used for limiting the passive variation range of the attack angle of the wing.
Further, the support component is used for supporting the wing membrane and comprises a wing front edge main beam, a wing diagonal bracing piece, a wing bracing rod A and a wing bracing rod B, wherein,
one end of the wing front edge main beam is connected with the power device through the wing connecting piece and flutters along with the movement of the power device to generate lift force, and the other end of the wing front edge main beam is connected with the wing diagonal bracing piece at an acute angle; the wing brace A and the wing brace B are arranged in parallel, form an included angle of 35-45 degrees with the wing front edge main beam and the wing diagonal bracing piece, and form an included angle of 60-70 degrees with the wing diagonal bracing piece.
Further, the wing film is made of polyimide, and the wing front edge main beam, the wing diagonal bracing piece, the wing bracing rod A and the wing bracing rod B are made of carbon fiber composite materials.
Further, the landing gear comprises a central shaft and a bracket, wherein the central shaft penetrates through a bearing in the landing gear connecting piece to be connected with the fuselage, and the bracket is a bent rod made of carbon fiber composite material and is 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, angle and angular speed information is fed back to the microcontroller, and the motor driver is used for receiving control signals 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 boost module, wherein the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boost module increases the input voltage of the lithium ion battery and outputs the increased input voltage to the motor driver to drive the motor to rotate reciprocally.
A control method of a direct-drive miniature flapping rotor aircraft comprises the steps that the rigidity of a torsion spring and the rotational inertia of a wing enable a rotating system formed by the wing, a reduction gear and a wing connecting piece to be under resonance frequency, the motor is controlled to output reciprocating rotation under the resonance frequency, the reduction gear is utilized to reduce the output of the motor and drive the wing to flap up and down in a vertical plane, so that upward lifting force and aerodynamic moment enabling the aircraft to spin are generated; in the spinning process of the aircraft, a periodical control method is adopted to enable the microcontroller to generate sinusoidal control signals with segmentation characteristics, torsion springs, motors and wings on two sides are respectively driven, so that different upward and downward flapping speeds are generated on the wings, the power output characteristics 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 method comprises the steps of,
during a rotation period, when the aircraft desires to generate a left tilt angle, the microcontroller generates two sinusoidal control signals with slicing characteristics respectively; one signal is output to a motor driver on one side, so that the speed of the wing on the side in the downward flapping process is increased, and the speed of the wing on the side in the upward flapping process is decreased; the other path of signals are output to a motor driver at the other side, so that the speed of the wing at the upper side is increased, the speed of the wing at the lower side is reduced, the lift force of the wing at one side is increased, the lift force of the wing at the other side is reduced, and a rolling moment is formed to control the inclination of the aircraft;
wherein, the sinusoidal control signal with the slicing feature refers to combining two sinusoidal signals with different rates of change.
Further, the sinusoidal control signal with slicing characteristics is:
where u (t) =u (t+1/f), u is the input voltage of the motor, t is time, V is the input voltage amplitude, and f is the input voltage frequency; sigma is a segmentation characteristic parameter, and the value range is 0.2-0.8; when σ=0.5, the input voltage is a standard sinusoidal varying voltage.
The invention has the beneficial effects that:
1. the invention provides a direct-drive mechanism capable of realizing gesture control of each shaft without an additional control mechanism, which adopts a motor to directly drive, and applies signals distributed according to a certain rule to the motor to make the motor perform high-frequency reciprocating motion so as to drive the wing to flutter to provide lifting force; the input signals of the motor are changed to change the movement mode of the motor, and the wings on two sides are driven to perform asymmetric flapping, so that control moment is generated, and the attitude of the flapping rotor craft is controlled without adding other control mechanisms; the structure is simpler and more compact, the volume and weight of the aircraft are smaller, the reliability is high, and the requirements of the microminiature aircraft are better met.
2. The invention adopts a torsion spring-motor-wing system for driving, and the motor can work at the resonance point of the system by matching the rigidity of the torsion spring and the moment of inertia of the wing, thereby generating larger flapping amplitude and having high flying efficiency.
Drawings
For a clearer description of an embodiment of the invention or of the solutions of the prior art, reference will be made to the accompanying drawings, which are used in the embodiments and which are intended to illustrate, but not to limit the invention in any way, the features and advantages of which can be obtained according to these drawings without inventive labour for a person skilled in the art. Wherein:
FIG. 1 is a block diagram of the various systems of a direct-drive tiltrotor aircraft of the present invention;
FIG. 2 is a diagram of the wing structure of a direct-drive tiltrotor aircraft of the present invention;
FIG. 3 is a block diagram of a power plant of the direct-drive tiltrotor aircraft of the present invention;
FIG. 4 is a sinusoidal signal with slicing features of the present invention;
FIG. 5 is a schematic diagram of a direct-drive miniature flapping-rotor experimental platform according to an embodiment of the invention;
FIG. 6 shows the results of a force measurement experiment of a direct-drive miniature flapping rotor wing according to an embodiment of the invention;
fig. 7 shows a take-off process of a direct-drive miniature flapping rotor according to an embodiment of the present invention.
Reference numerals illustrate:
1-wing A, 2-wing B, 3-power device, 4-fuselage, 5-control system, 6-energy module, 7-landing gear, 101-wing leading edge girder, 102-wing membrane, 103-wing diagonal bracing piece, 104-wing brace A, 105-wing brace B, 301-motor, 302-motor gear, 303-reduction gear, 304-torsion spring fixed sleeve, 305-torsion spring, 306-wing connector, 307-wing stopper, 401-frame, 402-fuselage brace A, 403-fuselage brace B, 404-landing gear connector.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.
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 described herein, and therefore the scope of the present invention is not limited to 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 make the motor perform high-frequency reciprocating motion, thereby driving the wing to flutter to provide lifting force; the input signals of the motor are changed to change the movement mode of the motor, and the wings on two sides are driven to perform asymmetric flapping, so that control moment is generated, and the attitude of the flapping rotor craft is controlled without adding other control mechanisms.
As shown in fig. 1, a direct-drive miniature flapping-rotor aircraft comprises a pair of wings, a power plant 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 body 4 is connected to the landing gear 7, and the body 4 has one degree of freedom of rotation with respect to the landing gear 7;
the control system 5 is used for controlling the power plant 3, and the energy source module 6 is used for providing power for 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 connection 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 connection 404 by identical fuselage stay a402 and fuselage stay B403, and the bearings in the landing gear connection 404 are connected to the landing gear 7.
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 meshed with the reduction gear 303, the reduction gear 303 is fixed on the transmission shaft thereof, 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 frame 401 and is used for storing and releasing the kinetic energy of the wing reciprocating motion;
when the motor 301 outputs reciprocating rotation, the reduction gear 303 drives the transmission shaft thereof to rotate together with the torsion spring fixing sleeve 304 relative to the frame 401, and at this time, the end of the torsion spring 305 connected to the torsion spring fixing sleeve 304 generates relative angular displacement relative to the end fixed to the frame 401.
The second power mechanism has the same structure as the first power mechanism, and the first power mechanism can be overlapped with the second power mechanism after rotating 180 degrees around the longitudinal axis center point of the frame 401.
In some embodiments, the first power mechanism further includes a wing connector 306 and a wing stopper 307, where the wing connector 306 is fixed on the reduction gear 303 by a pin, and is used to connect the wing with the reduction gear 303, and 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, and 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 an extension part of the wing connector 306 by a fan-shaped clamping slot, so as to limit the passive variation range of the attack angle of the wing.
The motor gear 302 is fixedly connected to the 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 the torsion spring 305 is fixed with the reduction gear 303 by the torsion spring fixing shaft sleeve 304, the other end of the torsion spring 305 is fixed on the frame 401, the wing connecting piece 306 is used for fixing the wing on the reduction gear 303, but the rotation of the wing front edge girder 101 is not limited, and the rotation of the wing front edge girder 101 is limited in a certain angle by the wing limit 307.
In some embodiments, as shown in fig. 2, the support members are used to support the wing film 102, including the wing leading edge main beam 101, the wing diagonal strut piece 103, the wing strut a104, and the wing strut B105, wherein,
one end of the wing front edge main beam 101 is connected with a power device through a wing connecting piece 306, and flutters along with the movement of the power device 3 to generate lift force, and the other end of the wing front edge main beam is connected with a wing diagonal bracing piece 103 at an acute angle; the wing brace A104 and the wing brace B105 are arranged in parallel, form an included angle of 35-45 degrees with the wing leading edge main beam 101 and an included angle of 60-70 degrees with the wing diagonal bracing piece 103.
In some embodiments, the wing membrane 102 is polyimide, and the wing leading edge main beam 101, the wing diagonal strut 103, the wing strut a104, and the wing strut B105 are made of carbon fiber composite materials.
Taking the wing A1 as an example, the wing comprises a wing front edge main beam 101 with the diameter of 1mm, a polyimide wing film 102 with the thickness of 0.012mm, a wing diagonal brace 103 with the thickness of 0.1mm, a wing brace A104 with the diameter of 0.5mm and a wing brace B105 with the diameter of 0.5mm, wherein the wing front edge main beam 101 is connected with a power device 3 through a wing connecting piece 306 and is flapped along with the movement of the power device 3 to generate lifting force.
In some embodiments, landing gear 7 includes a central shaft that is coupled to fuselage 4 through bearings in landing gear connector 404, and a bracket that is a bent rod of carbon fiber composite material that provides support for the tiltrotor aircraft 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 the angle and angular velocity information is fed back 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, reverse rotation, and generate different rotation speeds;
the energy module comprises a lithium ion battery and a boost module, the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boost module increases the input voltage of the lithium ion battery and outputs the increased input voltage to the motor driver to drive the motor 301 to rotate reciprocally; preferably, the output voltage of the lithium ion battery is 7.4-8.4V, and the boosting 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 miniature flapping rotor aircraft comprises the steps that the rigidity of a torsion spring and the rotational inertia of a wing enable a rotating system formed by the wing, a reduction gear and a wing connecting piece to be under resonance frequency, the motor is controlled to output reciprocating rotation under the resonance frequency, the reduction gear is utilized to reduce the output of the motor and drive the wing to flap up and down in a vertical plane, so that upward lifting force and aerodynamic moment enabling the aircraft to spin are generated; in the spinning process of the aircraft, a periodical control method is adopted to enable the microcontroller to generate sinusoidal control signals with segmentation characteristics, torsion springs, motors and wings on two sides are respectively driven, so that different upward and downward flapping speeds are generated on the wings, the power output characteristics 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 method comprises the steps of,
during a rotation period, when the aircraft desires to generate a left tilt angle, the microcontroller generates two sinusoidal control signals with slicing characteristics respectively; one signal is output to a motor driver on one side, so that the speed of the wing on the side in the downward flapping process is increased, and the speed of the wing on the side in the upward flapping process is decreased; the other path of signals are output to a motor driver at the other side, so that the speed of the wing at the upper side is increased, the speed of the wing at the lower side is reduced, the lift force of the wing at one side is increased, the lift force of the wing at the other side is reduced, and a rolling moment is formed to control the inclination of the aircraft;
wherein, the sinusoidal control signal with the slicing feature refers to combining two sinusoidal signals with different rates of change.
As shown in fig. 4, the sinusoidal control signal with the slicing feature is:
where u (t) =u (t+1/f), u is the input voltage of the motor, t is time, V is the input voltage amplitude, and f is the input voltage frequency; sigma is a segmentation characteristic parameter, and the value range is 0.2-0.8; when σ=0.5, the input voltage is a standard sinusoidal varying voltage.
In order to facilitate understanding of the above technical solutions of the present invention, the following detailed description of the above technical solutions of the present invention is provided by specific embodiments.
Example 1
A direct-drive miniature flapping rotor wing aircraft prototype is manufactured according to the process, the wingspan is about 85mm, and the weight of the complete aircraft is 12g (without an energy module).
The experimental prototype is fixed on an experimental platform shown in fig. 5, the prototype and the single-axis force sensor are connected through a freely rotatable conductive slip ring, wherein the conductive slip ring comprises a movable conductive slip ring and a static conductive slip ring, the two relatively rotate and simultaneously 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 stabilized voltage power supply is used for replacing an energy module for supplying power to a sampler, a voltage signal measured by a single-axis force sensor after being amplified by an amplifier is obtained through a data acquisition device, and the voltage signal is converted into force data according to the measuring range of the pre-calibrated force sensor.
The test results of the force measurement are shown in FIG. 6, the flutter frequency of the test prototype is set to 27Hz, the input voltage of the stabilized power supply is 20V, and the sampling time is 4 seconds. And selecting a period of time with stable flapping to calculate the average lifting force, wherein the calculated average lifting force is 12.7gf.
In addition, a guy wire take-off experiment of the direct-drive type flapping rotor aircraft is carried out, a prototype is fixed on a take-off rack, a stabilized voltage supply is used for supplying power, the power supply voltage is 24V, the length of a power supply wire is about 0.5m, and the wire weight is about 2g. The take-off process was photographed using a high-speed camera with a photographing frame rate of 1000fps. The take-off process of the direct-drive miniature flapping rotor wing aircraft is shown in fig. 7, the duration of the take-off process is about 1s, the climbing height is about 0.50m, and the take-off posture is stable.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the present invention, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A direct-drive miniature flapping rotor aircraft is characterized by comprising a pair of wings, a power device (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 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 to the landing gear (7), and the fuselage (4) has a degree of freedom of rotation with respect to the landing gear (7);
the control system (5) is used for controlling the power device (3), and the energy source module (6) is used for providing power for the control system (5) and the power device (3);
the airframe (4) comprises a frame (401), an airframe stay bar A (402), an airframe stay bar B (403) and a landing gear connecting piece (404), wherein the wing A (1) can be overlapped with the wing B after rotating 180 degrees around the longitudinal axis center point of the frame (401);
wherein the stand (401) provides a positioning and mounting foundation for the power device, the stand (401) is connected with the landing gear connecting piece (404) through the identical lower ends of the body supporting rod A (402) and the body supporting rod B (403), and a bearing in the landing gear connecting piece (404) is connected with the landing gear (7);
the first power mechanism comprises a motor (301), a motor gear (302), a reduction gear (303), a torsion spring fixing shaft sleeve (304) and a torsion spring (305), wherein,
the motor gear (302) is fixed on an output shaft of the motor (301) and meshed with the reduction gear (303), the reduction gear (303) is fixed on a transmission shaft of the motor gear, and the motor gear 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 the torsion spring fixing shaft sleeve (304), and the other end of the torsion spring is fixed on the frame (401) and is used for storing and releasing the kinetic energy of the wing reciprocating motion;
when the motor (301) outputs reciprocating rotation, the reduction gear (303) drives the transmission shaft of the reduction gear and the torsion spring fixing shaft sleeve (304) to rotate together relative to the frame (401), and at the moment, one end of the torsion spring (305) connected to the torsion spring fixing shaft sleeve (304) can generate relative angular displacement relative to one end fixed 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 degrees around the longitudinal axis center point of the frame (401);
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 and is used for connecting the wing with the reduction gear (303), the tail end of the wing passes through a through hole in 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 in 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 and is used for limiting the passive change range of the attack angle of the wing;
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 (301), angle and angular speed information is fed back to the microcontroller, and the motor driver is used for receiving control signals of the microcontroller and driving the motor (301) to realize forward rotation and reverse rotation and generate different rotating speeds;
the energy module comprises a lithium ion battery and a boost module, wherein the output voltage of the lithium ion battery directly supplies power to the microcontroller, and the boost module increases the input voltage of the lithium ion battery and outputs the increased input voltage to the motor driver to drive the motor (301) to rotate in a reciprocating manner.
2. The direct-drive miniature flutter aircraft of claim 1, wherein the support member is for supporting the wing membrane (102) and comprises a wing leading edge main beam (101), a wing diagonal bracing piece (103), a wing brace a (104) and a wing brace B (105), wherein,
one end of the wing front edge main beam (101) is connected with the power device through the wing connecting piece (306), and flutters along with the movement of the power device (3) to generate lift force, and the other end of the wing front edge main beam is connected with the wing diagonal bracing piece (103) at an acute angle; the wing brace A (104) and the wing brace B (105) are arranged in parallel, form an included angle of 35-45 degrees with the wing leading edge main beam (101) and an included angle of 60-70 degrees with the wing diagonal bracing piece (103).
3. The direct-drive miniature flapping rotor aircraft according to claim 2, wherein the wing membrane (102) is made of polyimide, and the wing leading edge main beam (101), the wing diagonal bracing piece (103), the wing bracing rod A (104) and the wing bracing rod B (105) are made of carbon fiber composite materials.
4. A miniature direct drive flapping rotor aircraft according to claim 3, characterised in that the landing gear (7) comprises a central shaft which is connected to the fuselage (4) through bearings in the landing gear connection (404), and a bracket which is a bent rod of carbon fibre composite material for providing support to the flapping rotor aircraft on the ground.
5. The control method based on the direct-drive miniature flapping rotor craft of one of claims 1-4, characterized in that the torsional spring rigidity and the wing moment of inertia make the rotating system composed of the wing, the reduction gear and the wing connector at the resonance frequency, by controlling the reciprocating rotation of the motor output at the resonance frequency, the motor output is reduced by the reduction gear and the wing is driven to flutter up and down in the vertical plane, thereby generating upward lifting force and aerodynamic moment for spinning the craft; in the spinning process of the aircraft, a periodical control method is adopted to enable the microcontroller to generate sinusoidal control signals with segmentation characteristics, torsion springs, motors and wings on two sides are respectively driven, so that different upward and downward flapping speeds are generated on the wings, the power output characteristics 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 method comprises the steps of,
during a rotation period, when the aircraft desires to generate a left tilt angle, the microcontroller generates two sinusoidal control signals with slicing characteristics respectively; one signal is output to a motor driver on one side, so that the speed of the wing on the side in the downward flapping process is increased, and the speed of the wing on the side in the upward flapping process is decreased; the other path of signals are output to a motor driver at the other side, so that the speed of the wing at the upper side is increased, the speed of the wing at the lower side is reduced, the lift force of the wing at one side is increased, the lift force of the wing at the other side is reduced, and a rolling moment is formed to control the inclination of the aircraft;
wherein, the sinusoidal control signal with the slicing feature refers to combining two sinusoidal signals with different rates of change.
6. The method of claim 5, wherein the sinusoidal control signal with slicing characteristics is:
wherein,，/>is the input voltage of the motor, < >>Is time, & lt>Is the input voltage amplitude, ">Is the input voltage frequency; />Is a segmentation characteristic parameter, and the value range is 0.2-0.8; when->The input voltage is a standard sinusoidal voltage.
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