CN114789790B - A hovering flapping-wing aircraft and a flight attitude control method thereof - Google Patents
A hovering flapping-wing aircraft and a flight attitude control method thereof Download PDFInfo
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Abstract
Description
技术领域Technical Field
本发明涉及飞行器技术领域，特别是涉及一种可悬停扑翼式飞行器及其飞行姿态控制方法。The present invention relates to the technical field of aircraft, and in particular to a hovering flapping-wing aircraft and a flight attitude control method thereof.
背景技术Background technique
扑翼式飞行器是一类基于鸟或昆虫仿生原理的高效飞行器，这类飞行器与固定翼和旋翼式飞行器相比，具有灵活升降，空中悬停，隐蔽飞行等独特的优点，在军事和民用领域都有很大的应用前景。当前固定翼和旋翼式飞行设备在结构设计与飞行控制方面的发展都已较为成熟，相比之下新型扑翼式飞行器的研究虽为热点但实用化发展尚在起步，针对扑翼式飞行器的高性能应用一个较大的问题是其灵活的飞行运动控制，而高效的飞行姿态控制又是飞行控制的基础。由此需要更多创新性的工作，结合飞行器的关键结构设计及其控制方法设计，实现更灵活且稳定的扑翼式飞行器的飞行姿态控制。Flapping-wing aircraft are a type of efficient aircraft based on the bionic principles of birds or insects. Compared with fixed-wing and rotary-wing aircraft, this type of aircraft has unique advantages such as flexible lifting and lowering, hovering in the air, and stealth flight. It has great application prospects in both military and civilian fields. At present, the development of fixed-wing and rotary-wing aircraft equipment in structural design and flight control is relatively mature. In contrast, although the research on new flapping-wing aircraft is a hot topic, its practical development is still in its infancy. A major problem for the high-performance application of flapping-wing aircraft is its flexible flight motion control, and efficient flight attitude control is the basis of flight control. Therefore, more innovative work is needed to combine the key structural design of the aircraft and the design of its control method to achieve more flexible and stable flight attitude control of flapping-wing aircraft.
当前扑翼式飞行器主要有两大类，一类模仿一般鸟类的飞行方式，可结合扑翼式飞行和滑翔两种飞行方式，有利于低能耗长续航；另一类模仿部分昆虫及蜂鸟的飞行方式，可以实现垂直升降、稳定悬停以及更灵活的空中运动。针对后者稳定悬停及灵活转向既是其显著优势，又对飞行器的飞行姿态控制提出更高的要求。现有的采用常规电机驱动的可悬停扑翼式飞行器通常采用的姿态控制设计大多采用扭转翅翼平面的方式提供与竖直方向呈一定角度的升力，为机体提供调整飞行姿态的力矩，为实现翅翼的扭转通常需要在翅翼结构或其驱动机构处进行针对性设计，由此会增加扑翼式飞行器主体结构的复杂度，同时存在较大控制机构对翅翼驱动机构的影响，不利于飞行器的飞行及控制稳定There are two main categories of flapping-wing aircraft at present. One category imitates the flight mode of general birds, and can combine flapping-wing flight and gliding flight modes, which is conducive to low energy consumption and long endurance; the other category imitates the flight mode of some insects and hummingbirds, which can achieve vertical ascent and descent, stable hovering and more flexible aerial movements. For the latter, stable hovering and flexible steering are both its significant advantages and put forward higher requirements for the flight attitude control of the aircraft. The attitude control design commonly used in existing hovering flapping-wing aircraft driven by conventional motors mostly adopts the method of twisting the wing plane to provide lift at a certain angle to the vertical direction, and provide the body with torque to adjust the flight attitude. In order to achieve the twisting of the wing, it is usually necessary to carry out targeted design in the wing structure or its drive mechanism, which will increase the complexity of the main structure of the flapping-wing aircraft. At the same time, there is a large influence of the control mechanism on the wing drive mechanism, which is not conducive to the flight and control stability of the aircraft.
申请号为202010132810.8的专利《可悬停八翼扑翼飞行器及其飞行控制方法》和申请号为2201910826225.5的专利《一种微型四扑翼飞行器控制系统》各提出了一种可悬停的仿生扑翼飞行器及其控制方法，飞行器采用电机驱动，通过齿轮连杆机构使翅翼相对于竖直初始平面进行扑动运动，以提供升力实现其飞行动作，控制方面均采用舵机带动翅翼根部扭转以改变翅翼扑动时与空气的作用角度，为机体提供所需的转动力矩，实现对飞行器姿态的控制。这种控制方法可以高效地产生并调节机体的各转动力矩，但其扭转控制设置在翅翼驱动机构处，增加了飞行器主体结构的复杂度，也不利于飞行器的飞行及控制稳定。申请号为202010783527.1的专利《一种仿生微型扑翼飞行器偏航控制方法和机构》采用相似的飞行器结构及驱动方式，在控制设计方面将实施翅翼扭转的位置从翅翼根部改变为翅翼侧边，更多利用对翅翼张紧程度的控制来调节各翅翼提供的升力从而提供所需的转动力矩，由此减小了控制机构对翅翼驱动机构的影响，但只通过调节翅翼张紧度控制机体姿态在灵活性与精确度上有所局限。Patent No. 202010132810.8, "Hoverable Eight-wing Flapping Aircraft and Its Flight Control Method", and Patent No. 2201910826225.5, "A Micro Four-wing Flapping Aircraft Control System", each proposed a hovering bionic flapping-wing aircraft and its control method. The aircraft is driven by an electric motor, and the wings are flapped relative to the vertical initial plane through a gear-link mechanism to provide lift to achieve its flight action. In terms of control, a servo is used to drive the root of the wing to twist to change the angle of action between the wing and the air when the wing flaps, provide the required torque for the body, and achieve control of the aircraft's attitude. This control method can efficiently generate and adjust the various torques of the body, but its torsion control is set at the wing drive mechanism, which increases the complexity of the main structure of the aircraft and is not conducive to the flight and control stability of the aircraft. The patent "A Bionic Micro Flapping-Wing Aircraft Yaw Control Method and Mechanism" with application number 202010783527.1 adopts a similar aircraft structure and drive method. In terms of control design, the location for implementing wing twisting is changed from the root of the wing to the side of the wing, and more use is made of the control of the wing tension to adjust the lift provided by each wing to provide the required torque, thereby reducing the influence of the control mechanism on the wing drive mechanism. However, controlling the body posture only by adjusting the wing tension is limited in flexibility and accuracy.
发明内容Summary of the invention
本发明的目的是提供一种可悬停扑翼式飞行器及其飞行姿态控制方法，以解决上述现有技术存在的问题，通过结合飞行器翅翼差动和尾翼偏转实现对可悬停扑翼式飞行器的灵活高效姿态控制。The purpose of the present invention is to provide a hovering flapping-wing aircraft and a flight attitude control method thereof, so as to solve the problems existing in the above-mentioned prior art, and to realize flexible and efficient attitude control of the hovering flapping-wing aircraft by combining the aircraft wing differential and tail deflection.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following solutions:
本发明提供了一种可悬停扑翼式飞行器，包括机体和动力机构，所述动力机构包括翅翼单元和尾翼单元；所述翅翼单元包括第一驱动装置、翅翼传动机构和两个轴对称设置的翅翼，所述翅翼包括翅翼横杆、翅翼面和翅翼控制杆，所述翅翼面呈三角形，所述翅翼面的一个侧边与所述翅翼横杆固连，所述翅翼面远离所述翅翼横杆的角与所述翅翼控制杆的一端固连，所述翅翼面为柔性面，所述第一驱动装置能够通过所述翅翼传动机构驱动两个所述翅翼横杆分别进行扑动；所述尾翼单元包括第二驱动装置、尾翼控制杆、尾翼竖杆和设置在所述尾翼竖杆上的尾翼面，所述第一驱动装置和所述第二驱动装置分别固设在所述机体上，所述翅翼控制杆的另一端和所述尾翼控制杆的一端分别与所述第二驱动装置的输出转轴固连，所述机体上固设有一连接部，所述尾翼竖杆的顶端固设有一滑动部，所述滑动部与所述连接部滑动连接，所述滑动部相对所述连接部滑动时还能够相对所述连接部转动，所述尾翼控制杆的另一端与所述尾翼竖杆转动连接。The present invention provides a hovering flapping-wing aircraft, comprising a body and a power mechanism, wherein the power mechanism comprises a wing unit and a tail unit; the wing unit comprises a first driving device, a wing transmission mechanism and two wings arranged symmetrically about an axis, the wing comprises a wing cross bar, a wing surface and a wing control rod, the wing surface is triangular, one side of the wing surface is fixedly connected to the wing cross bar, the corner of the wing surface away from the wing cross bar is fixedly connected to one end of the wing control rod, the wing surface is a flexible surface, and the first driving device can drive the two wing cross bars to flap respectively through the wing transmission mechanism; The tail unit includes a second driving device, a tail control rod, a tail vertical rod and a tail surface arranged on the tail vertical rod. The first driving device and the second driving device are respectively fixed on the body. The other end of the wing control rod and one end of the tail control rod are respectively fixedly connected to the output shaft of the second driving device. A connecting part is fixedly provided on the body. A sliding part is fixedly provided on the top of the tail vertical rod. The sliding part is slidably connected to the connecting part. When the sliding part slides relative to the connecting part, it can also rotate relative to the connecting part. The other end of the tail control rod is rotatably connected to the tail vertical rod.
优选的，所述第一驱动装置为电机，所述翅翼传动机构包括第一齿轮、第二齿轮、第三齿轮、第四齿轮、第五齿轮，所述第一齿轮固设在所述第一驱动装置的输出轴上，所述第二齿轮、所述第四齿轮和所述第五齿轮分别安装在所述机体上，所述第二齿轮与所述第一齿轮啮合，所述第三齿轮与所述第二齿轮一体成型且同轴设置，所述第三齿轮与所述第四齿轮啮合，所述第五齿轮与所述第四齿轮啮合；所述翅翼横杆与所述机体转动连接，所述第四齿轮的偏心处和所述第五齿轮的偏心处分别转动连接有一个连杆，两个所述连杆与两个所述翅翼横杆一一对应，所述连杆的另一端与对应的所述翅翼横杆转动连接。Preferably, the first driving device is a motor, and the wing transmission mechanism includes a first gear, a second gear, a third gear, a fourth gear, and a fifth gear. The first gear is fixed on the output shaft of the first driving device, and the second gear, the fourth gear and the fifth gear are respectively installed on the body, the second gear is meshed with the first gear, the third gear and the second gear are integrally formed and coaxially arranged, the third gear is meshed with the fourth gear, and the fifth gear is meshed with the fourth gear; the wing cross bar is rotatably connected to the body, and the eccentric point of the fourth gear and the eccentric point of the fifth gear are respectively rotatably connected with a connecting rod, the two connecting rods correspond one-to-one to the two wing cross bars, and the other end of the connecting rod is rotatably connected to the corresponding wing cross bar.
优选的，所述翅翼横杆与所述机体的转动连接处较所述翅翼横杆与所述连杆的转动连接处靠近所述翅翼面。Preferably, the rotational connection between the wing cross bar and the body is closer to the wing surface than the rotational connection between the wing cross bar and the connecting rod.
优选的，所述滑动部为滑块，所述连接部为插杆，所述滑块中设置有一长槽，所述插杆穿设在所述长槽中。Preferably, the sliding part is a slider, the connecting part is an insertion rod, a long groove is provided in the slider, and the insertion rod is inserted into the long groove.
优选的，所述机体上固设有一机身竖杆，所述第二驱动装置和所述连接部分别固设在所述机身竖杆上。Preferably, a fuselage vertical rod is fixedly provided on the fuselage, and the second driving device and the connecting part are respectively fixedly provided on the fuselage vertical rod.
优选的，所述机身竖杆上还固设有一竖板，所述滑块一侧与所述竖板接触。Preferably, a vertical plate is fixedly provided on the vertical rod of the fuselage, and one side of the sliding block is in contact with the vertical plate.
优选的，所述动力机构为两个，且两个所述动力机构对称设置。Preferably, there are two power mechanisms, and the two power mechanisms are symmetrically arranged.
优选的，同一个所述动力机构中的两个所述翅翼控制杆分别位于同一个所述动力机构中的所述第二驱动装置的两侧，所述尾翼控制杆位于同一个所述动力机构中的两个所述翅翼控制杆之间。Preferably, the two wing control rods in the same power mechanism are respectively located on both sides of the second driving device in the same power mechanism, and the tail control rod is located between the two wing control rods in the same power mechanism.
优选的，所述第二驱动装置为舵机；所述翅翼面采用具有高韧度的高分子聚合物薄膜制成，所述尾翼面采用具有弹性的高分子聚合物薄板制成，所述翅翼横杆和所述尾翼竖杆均具有弹性且分别采用金属材料制成；且所述翅翼横杆由靠近所述机体的一端至远离所述机体的一端的弹性逐渐增大。Preferably, the second driving device is a servo; the wing surface is made of a high-toughness polymer film, the tail surface is made of an elastic polymer plate, the wing cross bar and the tail vertical bar are both elastic and are respectively made of metal materials; and the elasticity of the wing cross bar gradually increases from one end close to the body to the end away from the body.
本发明还提供一种基于上述的可悬停扑翼式飞行器的飞行姿态控制方法，包括以下步骤：The present invention also provides a flight attitude control method based on the above-mentioned hovering flapping-wing aircraft, comprising the following steps:
S1：启动飞行器；S1: Start the aircraft;
S2：确定飞行器目标飞行姿态，并通过传感器检测飞行器当前飞行姿态数据；S2: Determine the target flight attitude of the aircraft and detect the current flight attitude data of the aircraft through sensors;
S3：进行飞行器运动控制运算，得到所需机体各转动力矩调节指令；S3: Performing aircraft motion control calculations to obtain required rotational torque adjustment instructions for the aircraft body;
S4：将飞行器机体各转动力矩调节指令转换得到飞行器翅翼差动及尾翼偏转的调节指令；S4: converting the rotational torque adjustment instructions of the aircraft body into adjustment instructions for the wing differential and tail deflection of the aircraft;
S5：产生驱动信号控制第一驱动装置及第二驱动装置，实现飞行器飞行姿态的调整；并返回步骤S2，形成飞行器飞行姿态的闭环控制，使扑翼式飞行器按目标飞行姿态进行平稳悬停或灵活运动。S5: Generate a driving signal to control the first driving device and the second driving device to adjust the flight attitude of the aircraft; and return to step S2 to form a closed-loop control of the flight attitude of the aircraft, so that the flapping-wing aircraft can hover steadily or move flexibly according to the target flight attitude.
本发明相对于现有技术取得了以下技术效果：Compared with the prior art, the present invention has achieved the following technical effects:
本发明的可悬停扑翼式飞行器及其飞行姿态控制方法通过结合飞行器翅翼差动和尾翼偏转实现了对可悬停扑翼式飞行器的灵活高效姿态控制。本发明可悬停扑翼式飞行器结合飞行器的翅翼差动和尾翼偏转产生机体各转动力矩，用于飞行器的飞行姿态控制，通过控制两组驱动电机转速和两组尾翼舵机转角同时控制各翅翼升力和尾翼受力，扩大可产生机体转动力矩的范围，以增强飞行器飞行姿态调节的灵活性；以创新设计的两组尾翼面的同向偏转提供滚转力矩，反向偏转提供偏航力矩，同时可以将其产生的其它力矩抵消，增强飞行器在姿态控制中的稳定性；尤其以尾翼偏转来提供偏航力矩，避免了现有设计中需要通过扭转翅翼平面角度来提供偏航力矩从而对翅翼结构和翅翼运动稳定性造成的影响；尾翼的滑块机构设计放大了尾翼的偏转角度，以在有限的翅翼张弛调节范围内扩大尾翼偏转的调节范围，增强尾翼对飞行器飞行姿态的控制作用；尾翼面的扇形设计及其在尾翼竖杆上的部分固定设计，使飞行器在飞行中尾翼偏转时可产生尾翼面被动扭转变形，以同时获得三轴转动力矩，用于飞行器飞行姿态的高效控制。The hovering flapping-wing aircraft and the flight attitude control method thereof of the present invention realize flexible and efficient attitude control of the hovering flapping-wing aircraft by combining the wing differential and tail deflection of the aircraft. The hovering flapping-wing aircraft of the present invention combines the wing differential and tail deflection of the aircraft to generate various rotational torques of the body for the flight attitude control of the aircraft. By controlling the rotation speeds of two sets of drive motors and the rotation angles of two sets of tail servos, the lift of each wing and the force on the tail are simultaneously controlled, thereby expanding the range of body rotational torque that can be generated, so as to enhance the flexibility of the aircraft's flight attitude adjustment; the same-direction deflection of the two sets of tail surfaces with an innovative design provides a rolling torque, and the opposite deflection provides a yaw torque, while other torques generated by them can be offset, thereby enhancing the stability of the aircraft in attitude control; in particular, the tail deflection is used to provide The yaw moment avoids the need to provide the yaw moment by twisting the wing plane angle in the existing design, thereby affecting the wing structure and the stability of the wing movement; the slider mechanism design of the tail amplifies the deflection angle of the tail, so as to expand the adjustment range of the tail deflection within the limited wing relaxation adjustment range, and enhance the control effect of the tail on the flight attitude of the aircraft; the fan-shaped design of the tail surface and its partial fixation on the tail vertical rod enable the tail surface to produce passive torsional deformation when the tail of the aircraft is deflected during flight, so as to obtain three-axis rotational torque at the same time, which is used for efficient control of the flight attitude of the aircraft.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明可悬停扑翼式飞行器的结构示意图；FIG1 is a schematic structural diagram of a hovering flapping-wing aircraft according to the present invention;
图2为本发明可悬停扑翼式飞行器的部分结构示意图一；FIG2 is a schematic diagram of a partial structure of a hovering flapping-wing aircraft according to the present invention;
图3为本发明可悬停扑翼式飞行器的部分结构示意图二；FIG3 is a second schematic diagram of a partial structure of the hovering flapping-wing aircraft of the present invention;
图4为本发明可悬停扑翼式飞行器的部分结构示意图三；FIG4 is a third schematic diagram of a partial structure of the hovering flapping-wing aircraft of the present invention;
图5为本发明可悬停扑翼式飞行器的飞行姿态及机体受力示意图；FIG5 is a schematic diagram of the flight posture and body force of the hovering flapping-wing aircraft of the present invention;
图6为本发明可悬停扑翼式飞行器的飞行姿态控制方法的流程图；6 is a flow chart of a method for controlling the flight attitude of a hovering flapping-wing aircraft according to the present invention;
其中：100、可悬停扑翼式飞行器；1、翅翼面；2、翅翼横杆；3、机体；4、第一驱动装置；5、尾翼面；6、第二驱动装置；7、第一齿轮；8、第二齿轮；9、第三齿轮；10、第四齿轮；11、第五齿轮；12、连杆；13、翅翼控制杆；14、尾翼控制杆；15、机身竖杆；16、滑块；17、竖板；18、尾翼竖杆；19、插杆；20、长槽。Among them: 100, hovering flapping-wing aircraft; 1, wing surface; 2, wing cross bar; 3, fuselage; 4, first drive device; 5, tail surface; 6, second drive device; 7, first gear; 8, second gear; 9, third gear; 10, fourth gear; 11, fifth gear; 12, connecting rod; 13, wing control rod; 14, tail control rod; 15, fuselage vertical rod; 16, slider; 17, vertical plate; 18, tail vertical rod; 19, plug rod; 20, long slot.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明的目的是提供一种可悬停扑翼式飞行器及其飞行姿态控制方法，以解决上述现有技术存在的问题，通过结合飞行器翅翼差动和尾翼偏转实现对可悬停扑翼式飞行器的灵活高效姿态控制。The purpose of the present invention is to provide a hovering flapping-wing aircraft and a flight attitude control method thereof, so as to solve the problems existing in the above-mentioned prior art, and to realize flexible and efficient attitude control of the hovering flapping-wing aircraft by combining the aircraft wing differential and tail deflection.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
如图1至图6所示：本实施例提供了一种可悬停扑翼式飞行器100，包括机体3和两个对称设置的动力机构，每个动力机构均包括翅翼单元和尾翼单元。As shown in FIG. 1 to FIG. 6 : This embodiment provides a hovering flapping-wing aircraft 100 , including a body 3 and two symmetrically arranged power mechanisms, each of which includes a wing unit and a tail unit.
翅翼单元包括第一驱动装置4、翅翼传动机构和两个轴对称设置的翅翼，第一驱动装置4固设在机体3上，翅翼包括翅翼横杆2、翅翼面1和翅翼控制杆13，翅翼面1呈三角形，翅翼面1的一个侧边与翅翼横杆2固连，翅翼面1远离翅翼横杆2的角与翅翼控制杆13的一端固连，翅翼面1为柔性面，翅翼面1采用具有高韧度的高分子聚合物薄膜制成，翅翼横杆2具有弹性且采用金属材料制成，且翅翼横杆2由靠近机体3的一端至远离机体3的一端的弹性逐渐增大。The wing unit includes a first driving device 4, a wing transmission mechanism and two axially symmetrically arranged wings. The first driving device 4 is fixed on the body 3. The wing includes a wing cross bar 2, a wing surface 1 and a wing control rod 13. The wing surface 1 is triangular, and one side of the wing surface 1 is fixedly connected to the wing cross bar 2. The corner of the wing surface 1 away from the wing cross bar 2 is fixedly connected to one end of the wing control rod 13. The wing surface 1 is a flexible surface. The wing surface 1 is made of a high-toughness polymer film. The wing cross bar 2 is elastic and made of metal material, and the elasticity of the wing cross bar 2 gradually increases from the end close to the body 3 to the end away from the body 3.
第一驱动装置4能够通过翅翼传动机构驱动两个翅翼横杆2分别进行扑动。具体的，第一驱动装置4采用驱动电机，翅翼传动机构包括第一齿轮7、第二齿轮8、第三齿轮9、第四齿轮10、第五齿轮11，第一齿轮7固设在第一驱动装置4的输出轴上，第二齿轮8、第四齿轮10和第五齿轮11分别安装在机体3上，第二齿轮8与第一齿轮7啮合，第三齿轮9与第二齿轮8一体成型且同轴设置，第三齿轮9与第四齿轮10啮合，第五齿轮11与第四齿轮10啮合；翅翼横杆2与机体3转动连接，第四齿轮10的偏心处和第五齿轮11的偏心处分别转动连接有一个连杆12，两个连杆12与两个翅翼横杆2一一对应，连杆12的另一端与对应的翅翼横杆2转动连接；翅翼横杆2与机体3的转动连接处较翅翼横杆2与连杆12的转动连接处靠近翅翼面1。The first driving device 4 can drive the two wing cross bars 2 to flutter respectively through the wing transmission mechanism. Specifically, the first driving device 4 adopts a driving motor, and the wing transmission mechanism includes a first gear 7, a second gear 8, a third gear 9, a fourth gear 10, and a fifth gear 11. The first gear 7 is fixed on the output shaft of the first driving device 4, and the second gear 8, the fourth gear 10 and the fifth gear 11 are respectively installed on the body 3. The second gear 8 is meshed with the first gear 7, the third gear 9 is integrally formed with the second gear 8 and is coaxially arranged, the third gear 9 is meshed with the fourth gear 10, and the fifth gear 11 is meshed with the fourth gear 10; the wing cross bar 2 is rotatably connected to the body 3, and the eccentric part of the fourth gear 10 and the eccentric part of the fifth gear 11 are respectively rotatably connected with a connecting rod 12, and the two connecting rods 12 correspond to the two wing cross bars 2 one by one, and the other end of the connecting rod 12 is rotatably connected with the corresponding wing cross bar 2; the rotational connection between the wing cross bar 2 and the body 3 is closer to the wing surface 1 than the rotational connection between the wing cross bar 2 and the connecting rod 12.
第一驱动装置4工作时，带动第一齿轮7转动，第一齿轮7带动第二齿轮8转动，第二齿轮8带动第三齿轮9转动，第三齿轮9带动第四齿轮10转动，第四齿轮10带动第五齿轮11转动，第四齿轮10和第五齿轮11分别带动对应的连杆12进行偏心摆动，连杆12带动翅翼横杆2以翅翼横杆2与机体3的转动连接处为轴进行不断地扑动。When the first driving device 4 is working, it drives the first gear 7 to rotate, the first gear 7 drives the second gear 8 to rotate, the second gear 8 drives the third gear 9 to rotate, the third gear 9 drives the fourth gear 10 to rotate, the fourth gear 10 drives the fifth gear 11 to rotate, the fourth gear 10 and the fifth gear 11 respectively drive the corresponding connecting rod 12 to swing eccentrically, and the connecting rod 12 drives the wing cross bar 2 to flap continuously with the rotating connection between the wing cross bar 2 and the body 3 as the axis.
尾翼单元包括第二驱动装置6、尾翼控制杆14、尾翼竖杆18和设置在尾翼竖杆18上的尾翼面5，机体3上固设有一机身竖杆15，第二驱动装置6固设在机身竖杆15上，翅翼控制杆13的另一端和尾翼控制杆14的一端分别与第二驱动装置6的输出转轴固连，机身竖杆15上固设有一连接部，尾翼竖杆18的顶端固设有一滑动部，滑动部与连接部滑动连接，滑动部相对连接部滑动时还能够相对连接部转动，尾翼控制杆14的另一端与尾翼竖杆18转动连接。The tail unit includes a second driving device 6, a tail control rod 14, a tail vertical rod 18 and a tail surface 5 arranged on the tail vertical rod 18. A fuselage vertical rod 15 is fixedly provided on the fuselage 3. The second driving device 6 is fixedly provided on the fuselage vertical rod 15. The other end of the wing control rod 13 and one end of the tail control rod 14 are respectively fixedly connected to the output shaft of the second driving device 6. A connecting part is fixedly provided on the fuselage vertical rod 15. A sliding part is fixedly provided on the top of the tail vertical rod 18. The sliding part is slidably connected to the connecting part. When the sliding part slides relative to the connecting part, it can also rotate relative to the connecting part. The other end of the tail control rod 14 is rotatably connected to the tail vertical rod 18.
在本实施例中，滑动部为滑块16，连接部为插杆19，滑块16中设置有一长槽20，插杆19穿设在长槽20中。机身竖杆15上还固设有一竖板17，滑块16一侧与竖板17接触。第二驱动装置6采用舵机；尾翼面5采用具有弹性的高分子聚合物薄板制成，尾翼竖杆18具有弹性且采用金属材料制成；尾翼面5初始位于同组动力机构中两翅翼的对称平面上；尾翼面5内边为直线，外缘为曲线，尾翼面5呈上窄下宽的扇形；尾翼面5仅内边的上部固定在尾翼竖杆18上，内边的下部及外缘无约束，内边的固定比例大于50％。In this embodiment, the sliding part is a slider 16, and the connecting part is an insertion rod 19. A long groove 20 is provided in the slider 16, and the insertion rod 19 is inserted into the long groove 20. A vertical plate 17 is also fixed on the fuselage vertical rod 15, and one side of the slider 16 is in contact with the vertical plate 17. The second driving device 6 adopts a steering gear; the tail surface 5 is made of a thin plate of elastic high molecular polymer, and the tail vertical rod 18 is elastic and made of metal material; the tail surface 5 is initially located on the symmetry plane of the two wings in the same group of power mechanisms; the inner edge of the tail surface 5 is a straight line, and the outer edge is a curve, and the tail surface 5 is a fan-shaped with a narrow upper part and a wide lower part; only the upper part of the inner edge of the tail surface 5 is fixed on the tail vertical rod 18, and the lower part and the outer edge of the inner edge are not constrained, and the fixing ratio of the inner edge is greater than 50%.
初始状态尾翼控制杆14、尾翼竖杆18和尾翼面5均为竖直方向；各尾翼舵机可受控驱动固定的尾翼控制杆14和两个翅翼控制杆13同步在初始位置两侧偏转；初始状态各翅翼控制杆13与其连接的翅翼面1的外缘垂直，各翅翼控制杆13的偏转可改变其连接翅翼的张弛状态，主要作用区域靠近翅翼外缘；各尾翼控制杆14的偏转可带动尾翼竖杆18及尾翼面5偏转，且通过滑块16机构尾翼竖杆18及尾翼面5的偏转角度被放大，尾翼竖杆18相对初始竖直方向的偏转角度大于尾翼控制杆14的偏转角度，具体放大效果由尾翼结构设计中滑块16机构的位置优化决定。In the initial state, the tail control rod 14, the tail vertical rod 18 and the tail surface 5 are all in the vertical direction; each tail servo can be controlled to drive the fixed tail control rod 14 and the two wing control rods 13 to deflect synchronously on both sides of the initial position; in the initial state, each wing control rod 13 is perpendicular to the outer edge of the wing surface 1 to which it is connected, and the deflection of each wing control rod 13 can change the tension and relaxation state of the wing to which it is connected, and the main action area is close to the outer edge of the wing; the deflection of each tail control rod 14 can drive the tail vertical rod 18 and the tail surface 5 to deflect, and the deflection angle of the tail vertical rod 18 and the tail surface 5 is amplified by the slider 16 mechanism, and the deflection angle of the tail vertical rod 18 relative to the initial vertical direction is greater than the deflection angle of the tail control rod 14, and the specific amplification effect is determined by the position optimization of the slider 16 mechanism in the tail structure design.
在机体3上还固设有电池和控制电路板，第一驱动装置4和第二驱动装置6分别与控制电路板信号连接。A battery and a control circuit board are also fixedly mounted on the machine body 3 , and the first drive device 4 and the second drive device 6 are respectively connected to the control circuit board by signals.
同一个动力机构中的两个翅翼控制杆13分别位于同一个动力机构中的第二驱动装置6的两侧，尾翼控制杆14位于同一个动力机构中的两个翅翼控制杆13之间。通过一个第二驱动装置6同时带动两个翅翼控制杆13和一个尾翼控制杆14偏转，两个翅翼控制杆13的偏转控制各自所连接的翅翼面1的张弛程度，一个翅翼面1松弛，另一个翅翼面1张紧，翅翼面1张紧使其在扑动时能够获得更大升力，通过两个翅翼面1由张弛度差异获得的升力差产生机体3的转动力矩；尾翼控制杆14带动尾翼竖杆18和尾翼面5向一侧偏转，向一侧偏转的尾翼面5与翅翼的扑动中心平面呈一定倾角，尾翼面5受到翅翼扑动产生气流作用，尾翼面5的扇形面受力向下扭转变形，即尾翼面5的内边与尾翼竖杆18固定的部分无变形位移，尾翼面5的内边未固定的部分的向下变形位移从尾翼竖杆18底端到尾翼面5的内边底端逐渐增大，尾翼面5外缘的向下变形位移从上端到扇面弧顶逐渐增大，整个尾翼面5呈向下扭转倾斜的扇叶状，则尾翼同时受到三个轴向的分力作用，对应产生机体3三个轴向的转动力矩。由此本实施例可悬停扑翼式飞行器100可以同时结合飞行器的翅翼差动和尾翼偏转产生机体3各转动力矩，用于飞行器的飞行姿态控制；进一步的基于本发明尾翼机构的设计，一方面尾翼面5的偏转与两侧翅翼的张弛调节同步且具有确定比例关系，统一由尾翼舵机的偏转角控制，另一方面尾翼面5的偏转角度得到放大使其对飞行姿态的控制作用增强。The two wing control rods 13 in the same power mechanism are respectively located on both sides of the second drive device 6 in the same power mechanism, and the tail control rod 14 is located between the two wing control rods 13 in the same power mechanism. The two wing control rods 13 and the tail control rod 14 are driven to deflect at the same time by the second drive device 6. The deflection of the two wing control rods 13 controls the tension and relaxation degree of the wing surfaces 1 connected to them respectively. One wing surface 1 is relaxed, and the other wing surface 1 is tensioned. The tension of the wing surface 1 enables it to obtain greater lift when flapping. The lift difference obtained by the difference in tension and relaxation of the two wing surfaces 1 generates the rotational torque of the body 3; the tail control rod 14 drives the tail vertical rod 18 and the tail surface 5 to deflect to one side, and the tail surface 5 deflected to one side is aligned with the flapping center plane of the wing. At a fixed inclination angle, the tail surface 5 is acted upon by the airflow generated by the flapping of the wings, and the fan-shaped surface of the tail surface 5 is twisted and deformed downward by the force, that is, the portion of the inner edge of the tail surface 5 fixed to the tail vertical rod 18 has no deformation displacement, and the downward deformation displacement of the unfixed portion of the inner edge of the tail surface 5 gradually increases from the bottom end of the tail vertical rod 18 to the bottom end of the inner edge of the tail surface 5, and the downward deformation displacement of the outer edge of the tail surface 5 gradually increases from the upper end to the top of the fan arc, and the entire tail surface 5 is in the shape of a fan blade that is twisted and tilted downward, so the tail is simultaneously acted upon by three axial component forces, correspondingly generating three axial rotational moments of the body 3. Therefore, the hovering flapping-wing aircraft 100 of this embodiment can simultaneously combine the wing differential and tail deflection of the aircraft to generate various rotational torques of the body 3 for the flight attitude control of the aircraft; further, based on the design of the tail mechanism of the present invention, on the one hand, the deflection of the tail surface 5 is synchronized with the tension and relaxation adjustment of the wings on both sides and has a definite proportional relationship, and is uniformly controlled by the deflection angle of the tail servo; on the other hand, the deflection angle of the tail surface 5 is amplified to enhance its control effect on the flight attitude.
本实施例还提供一种上述可悬停扑翼式飞行器100的飞行姿态控制方法，包括以下步骤：This embodiment also provides a flight attitude control method for the hovering flapping-wing aircraft 100, comprising the following steps:
S1、启动飞行器，控制电路板上各模块正常运行；S1. Start the aircraft and control the normal operation of each module on the circuit board;
控制电路板须水平固定安装在飞行器机身上，其上至少包括电源模块，传感模块，控制器模块，驱动模块，可选具有通信模块；电源模块连接电池，为其它各模块提供所需直流电压；传感模块至少包含检测飞行器俯仰、滚转和偏航姿态角的传感器，用于检测飞行器实时飞行姿态数据，输出的传感信号输入控制器模块；控制器模块包含微处理器，微处理器可采用DSP、RAM等满足传感与控制运算需求的器件，用于采集并处理飞行器姿态信息并运算产生飞行器控制信号，输出的控制信号输入驱动模块；驱动模块包含匹配各第一驱动装置和各尾翼舵机(即第二驱动装置6)的驱动输出单元，用于接收控制信号转换为大功率驱动信号，输出的驱动信号接入对应电机以驱动其转动；通信模块包含无线数据传输器件，用于在有遥控需求时接收飞行姿态控制指令，输出的通信数据输入控制器模块，用于更新当前飞行器目标飞行姿态。The control circuit board must be fixedly installed horizontally on the aircraft fuselage, and at least includes a power module, a sensor module, a controller module, a drive module, and optionally a communication module; the power module is connected to a battery to provide the required DC voltage for other modules; the sensor module at least includes sensors for detecting the pitch, roll and yaw attitude angles of the aircraft, which are used to detect the real-time flight attitude data of the aircraft, and the output sensor signals are input into the controller module; the controller module includes a microprocessor, and the microprocessor can use DSP, RAM and other devices that meet the sensing and control calculation requirements, which are used to collect and process the aircraft attitude information and calculate to generate the aircraft control signal, and the output control signal is input into the drive module; the drive module includes a drive output unit matching each first drive device and each tail servo (i.e., the second drive device 6), which is used to receive the control signal and convert it into a high-power drive signal, and the output drive signal is connected to the corresponding motor to drive it to rotate; the communication module includes a wireless data transmission device, which is used to receive the flight attitude control instruction when there is a remote control demand, and the output communication data is input into the controller module, which is used to update the current target flight attitude of the aircraft.
S2、确定飞行器目标飞行姿态，检测飞行器当前飞行姿态数据；S2, determine the target flight attitude of the aircraft and detect the current flight attitude data of the aircraft;
飞行器目标飞行姿态可通过控制器程序预设指令或遥控指令确定，包括飞行器机体3的俯仰角、滚转角和偏航角，飞行器绕机体3坐标轴yb的旋转角度为俯仰角，绕机体3坐标轴xb的旋转角度为滚转角，绕机体3坐标轴zb的旋转角度为偏航角，例如在室内环境中设定飞行器保持空中悬停状态，则目标俯仰角与滚转角为0°，目标偏航角保持前步指令不变；飞行器当前飞行姿态数据由传感模块检测得到，包括当前飞行器机体3的俯仰角、滚转角和偏航角。The target flight attitude of the aircraft can be determined by preset instructions of the controller program or remote control instructions, including the pitch angle, roll angle and yaw angle of the aircraft body 3. The rotation angle of the aircraft around the coordinate axis yb of the body 3 is the pitch angle, the rotation angle around the coordinate axis xb of the body 3 is the roll angle, and the rotation angle around the coordinate axis zb of the body 3 is the yaw angle. For example, if the aircraft is set to remain in a hovering state in an indoor environment, the target pitch angle and roll angle are 0°, and the target yaw angle remains unchanged from the previous step instruction; the current flight attitude data of the aircraft is detected by the sensor module, including the current pitch angle, roll angle and yaw angle of the aircraft body 3.
S3、进行飞行器运动控制运算，得到所需机体3各转动力矩调节指令；S3, perform aircraft motion control calculations to obtain the required torque adjustment instructions for the aircraft body 3;
将飞行器目标飞行姿态与检测得到的当前飞行姿态进行比较，机体3各姿态角偏差输入控制器程序中预设的姿态反馈控制程序，通过典型的PID等控制算法运算得到所需机体3俯仰力矩τp、滚转力矩τr和偏航力矩τy的调节指令。The target flight attitude of the aircraft is compared with the current flight attitude obtained by detection, and the attitude angle deviations of the body 3 are input into the attitude feedback control program preset in the controller program. The required adjustment instructions of the pitch moment τ p , rolling moment τ r and yaw moment τ y of the body 3 are obtained through typical PID and other control algorithms.
S4、依据本发明可悬停扑翼式飞行器100产生机体3各转动力矩的方法，将飞行器机体3各转动力矩调节指令转换得到飞行器翅翼差动及尾翼偏转的调节指令。S4. According to the method of generating various rotational torques of the body 3 of the hovering flapping-wing aircraft 100 of the present invention, the various rotational torque adjustment instructions of the aircraft body 3 are converted into adjustment instructions for the aircraft wing differential and tail deflection.
基于本发明可悬停扑翼式飞行器100的尾翼设计，本发明可悬停扑翼式飞行器100机体3产生各转动力矩的方法如下：Based on the tail design of the hovering flapping-wing aircraft 100 of the present invention, the method for the body 3 of the hovering flapping-wing aircraft 100 of the present invention to generate various rotational moments is as follows:
竖直飞行：飞行器两组第一驱动装置以相同的转速驱动两组翅翼以相同的频率扑动，对应两组尾翼舵机(即第二驱动装置6)保持中间位置，则四个翅翼获得相同的升力，且尾翼面5保持竖直方向不作用于机体3姿态，飞行器只获得竖直方向升力，不受转动力矩作用。Vertical flight: The two sets of first drive devices of the aircraft drive the two sets of wings to flap at the same frequency at the same speed, and the corresponding two sets of tail servos (i.e., the second drive devices 6) remain in the middle position, so that the four wings obtain the same lift, and the tail surface 5 remains in the vertical direction and does not act on the posture of the body 3. The aircraft only obtains vertical lift and is not affected by the rotational torque.
俯仰力矩：控制延xb轴的两组第一驱动装置以一定转速差运转，对应两组尾翼舵机(即第二驱动装置6)保持中间位置，则两组翅翼的扑动频率不同获得不同的升力，且尾翼面5始终延xbzb方向不作用于机体3姿态，由两组翅翼获得的升力差产生飞行器机体3绕yb轴的俯仰力矩，实现对机体3俯仰角的调节控制。Pitch moment: the two groups of first drive devices along the xb axis are controlled to operate at a certain speed difference, and the corresponding two groups of tail servos (i.e., the second drive devices 6) are kept in the middle position, so that the flapping frequencies of the two groups of wings are different and different lifts are obtained, and the tail surface 5 always extends along the xbzb directions and does not act on the posture of the body 3. The lift difference obtained by the two groups of wings generates a pitch moment of the aircraft body 3 around the yb axis, thereby realizing the adjustment and control of the pitch angle of the body 3.
滚转力矩：控制延xb轴的两组第一驱动装置以相同的转速驱动两组翅翼以相同的频率扑动，对应两组尾翼舵机(即第二驱动装置6)同时转向yb轴正方向(yb轴负方向)：一方面将yb轴负方向(yb轴正方向)一侧两个翅翼张紧以获得更大的升力，产生绕xb轴的滚转力矩；另一方面两个尾翼面5同时向yb轴正方向(yb轴负方向)偏转，其受力对机体3产生同向的绕xb轴的滚转力矩，以及反向抵消的绕yb轴的俯仰力矩和绕zb轴的偏航力矩；两方面作用产生的滚转力矩同向叠加，实现对机体3滚转角的调节控制。Rolling moment: the two first driving devices along the xb axis are controlled to drive the two wings to flap at the same frequency at the same speed, and the corresponding two tail servos (i.e., the second driving devices 6) are simultaneously turned to the positive direction of the yb axis (negative direction of the yb axis): on the one hand, the two wings on the negative direction of the yb axis (positive direction of the yb axis) are tensioned to obtain greater lift, thereby generating a rolling moment around the xb axis; on the other hand, the two tail surfaces 5 are simultaneously deflected toward the positive direction of the yb axis (negative direction of the yb axis), and the forces thereon generate a rolling moment around the xb axis in the same direction on the fuselage 3, as well as a pitching moment around the yb axis and a yaw moment around the zb axis that are offset in opposite directions; the rolling moments generated by the two aspects are superimposed in the same direction, thereby realizing the adjustment and control of the roll angle of the fuselage 3.
偏航力矩：控制延xb轴的两组第一驱动装置以相同的转速驱动两组翅翼以相同的频率扑动，对应两组尾翼舵机(即第二驱动装置6)分别转向yb轴负方向(yb轴正方向)和yb轴正方向(yb轴负方向)：一方面使呈对角分布的翅翼同时张紧或松弛，则xb轴及yb轴两侧翅翼由张弛差异造成升力差产生的滚转力矩和俯仰力矩各自抵消；另一方面两个尾翼面5分别向yb轴负方向(yb轴正方向)和yb轴正方向(yb轴负方向)偏转，其受力对机体3产生同向的绕zb轴的偏航力矩，以及反向抵消的绕yb轴的俯仰力矩和绕xb轴的滚转力矩；主要由尾翼偏转产生飞行器机体3绕zb轴的偏航力矩，实现对机体3偏航角的调节控制。Yaw moment: the two first drive devices along the xb axis are controlled to drive the two wings to flap at the same frequency at the same speed, and the corresponding two tail servos (i.e., the second drive devices 6) are respectively turned to the negative direction of the yb axis (positive direction of the yb axis) and the positive direction of the yb axis (negative direction of the yb axis): on the one hand, the diagonally distributed wings are simultaneously tensioned or relaxed, so that the rolling moment and pitching moment generated by the lift difference caused by the tension and relaxation difference of the wings on both sides of the xb axis and the yb axis are offset respectively; on the other hand, the two tail surfaces 5 are deflected to the negative direction of the yb axis (positive direction of the yb axis) and the positive direction of the yb axis (negative direction of the yb axis), and the forces thereof generate the same-direction yaw moment around the zb axis on the fuselage 3, as well as the pitching moment around the yb axis and the rolling moment around the xb axis that are offset in the opposite direction; the yaw moment of the aircraft fuselage 3 around the zb axis is mainly generated by the deflection of the tail wing, so as to realize the adjustment and control of the yaw angle of the fuselage 3.
根据上述本发明可悬停扑翼式飞行器100产生机体3各转动力矩的方法，以及两组第一驱动装置转速及转速差和尾翼舵机(即第二驱动装置6)偏转角度与产生各转动力矩的映射关系，将飞行器机体3各转动力矩调节指令转换为飞行器两组第一驱动装置转速及两组尾翼舵机(即第二驱动装置6)偏转角的调节指令。According to the above-mentioned method of the present invention for generating various rotational torques of the body 3 of the hovering flapping-wing aircraft 100, as well as the mapping relationship between the rotational speeds and the rotational speed difference of the two sets of first drive devices and the deflection angle of the tail servo (i.e., the second drive device 6) and the generation of various rotational torques, the various rotational torque adjustment instructions of the aircraft body 3 are converted into adjustment instructions of the rotational speeds of the two sets of first drive devices of the aircraft and the deflection angles of the two sets of tail servos (i.e., the second drive device 6).
S5、产生驱动信号控制各第一驱动装置及尾翼舵机(即第二驱动装置6)，实现飞行器飞行姿态的调整。S5, generating a driving signal to control each first driving device and the tail servo (ie, the second driving device 6) to adjust the flight attitude of the aircraft.
飞行器控制电路板中的控制器模块进行上述各步运算之后产生对应两组第一驱动装置和两组尾翼舵机(即第二驱动装置6)的控制信号，经驱动输出模块转换为匹配各第一驱动装置和尾翼舵机(即第二驱动装置6)的大功率驱动信号，实现各电机转动，调节各翅翼与尾翼运动，实现扑翼式飞行器飞行姿态的控制。After performing the above-mentioned operations, the controller module in the aircraft control circuit board generates control signals corresponding to the two groups of first drive devices and the two groups of tail servos (i.e., the second drive device 6), which are converted into high-power drive signals matching the first drive devices and the tail servos (i.e., the second drive device 6) through the drive output module, so as to realize the rotation of each motor, adjust the movement of each wing and tail wing, and realize the control of the flight attitude of the flapping-wing aircraft.
回到步骤S2，形成飞行器飞行姿态的闭环控制，使扑翼式飞行器按目标飞行姿态进行平稳悬停或灵活运动。Returning to step S2, a closed-loop control of the aircraft's flight attitude is formed, so that the flapping-wing aircraft can hover steadily or move flexibly according to the target flight attitude.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“竖直”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be noted that the terms "center", "up", "down", "vertical", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.
本说明书中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of the present invention. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.
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