CN114789790B - Hovering flapping wing type aircraft and flight attitude control method thereof - Google Patents
Hovering flapping wing type aircraft and flight attitude control method thereof Download PDFInfo
- Publication number
- CN114789790B CN114789790B CN202210413254.0A CN202210413254A CN114789790B CN 114789790 B CN114789790 B CN 114789790B CN 202210413254 A CN202210413254 A CN 202210413254A CN 114789790 B CN114789790 B CN 114789790B
- Authority
- CN
- China
- Prior art keywords
- wing
- tail
- gear
- rod
- aircraft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 10
- 239000007769 metal material Substances 0.000 claims description 4
- 229920000642 polymer Polymers 0.000 claims description 3
- 229920006254 polymer film Polymers 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 description 13
- 230000001276 controlling effect Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a hovering flapping wing type aircraft, which comprises an engine body and a power mechanism, wherein the power mechanism comprises a wing unit and a tail wing unit; the wing unit comprises a first driving device, a wing transmission mechanism and two wings which are axially and symmetrically arranged, wherein each wing comprises a wing cross rod, a wing surface and a wing control rod, the wing surface is fixedly connected with one end of the wing control rod, and the first driving device can drive the two wing cross rods to respectively flutter through the wing transmission mechanism; the fin unit comprises a second driving device, a fin control rod, a fin vertical rod and a tail surface arranged on the fin vertical rod, wherein the fin control rod and the fin control rod are respectively fixedly connected with an output rotating shaft of the second driving device, a connecting part is fixedly arranged on the machine body, a sliding part is fixedly arranged on the fin vertical rod, the sliding part can slide and rotate relative to the connecting part, and the fin control rod is rotationally connected with the fin vertical rod. The invention realizes flexible and efficient attitude control of the hovering ornithopter.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a hovering flapping wing type aircraft and a flight attitude control method thereof.
Background
The flapping wing type aircraft is a high-efficiency aircraft based on the bionic principle of birds or insects, and has the unique advantages of flexible lifting, hovering, hidden flight and the like compared with fixed wing and rotor type aircraft, and has great application prospect in the military and civil fields. The development of the current fixed wing and rotor wing type flight equipment in the aspects of structural design and flight control is mature, compared with the research of a novel flapping wing type aircraft, the research is hot but the practical development is still starting, and the high-performance application of the flapping wing type aircraft aims at the problem that the flexible flight motion control is realized, and the high-efficiency flight attitude control is also the basis of the flight control. Therefore, more innovative work is needed, and the flight attitude control of the flapping wing air vehicle is realized more flexibly and stably by combining the key structural design of the air vehicle and the control method design thereof.
The current flapping-wing type aircraft mainly has two main types, one type simulates the flight mode of common birds, and the two flight modes of flapping-wing type flight and gliding can be combined, so that the low-energy consumption long-duration voyage is facilitated; the other type imitates the flying mode of partial insects and buzzers, and can realize vertical lifting, stable hovering and more flexible air movement. The stable hovering and flexible steering aiming at the latter are significant advantages, and higher requirements are put on the flight attitude control of the aircraft. The existing attitude control design generally adopted by the conventional motor-driven hoverable flapping wing type aircraft mostly adopts a mode of twisting a wing plane to provide a lifting force with a certain angle with the vertical direction, provides a moment for adjusting the flight attitude for an aircraft body, and generally needs to be purposefully designed at a wing structure or a driving mechanism thereof for realizing the torsion of the wing, thereby increasing the complexity of the main structure of the flapping wing type aircraft, and simultaneously having the influence of a larger control mechanism on the wing driving mechanism, which is unfavorable for the flight and the control stability of the aircraft
The patent with the application number 202010132810.8 and the flight control method thereof and the patent with the application number 2201910826225.5 respectively propose a hovering bionic flapping wing aircraft and the control method thereof, wherein the aircraft adopts a motor to drive, and the wing is driven to perform flapping motion relative to a vertical initial plane through a gear link mechanism so as to provide lifting force to realize the flight action, and steering engines are adopted in the control aspect to drive the root of the wing to twist so as to change the action angle with air when the wing flapps, so that a required rotation moment is provided for an aircraft body, and the gesture of the aircraft is controlled. The control method can efficiently generate and adjust each rotating moment of the machine body, but the torsion control is arranged at the wing driving mechanism, so that the complexity of the main body structure of the aircraft is increased, and the flying and the control stability of the aircraft are not facilitated. The patent with the application number 202010783527.1, namely a yaw control method and a yaw control mechanism of a bionic miniature flapping wing aircraft, adopts a similar aircraft structure and a similar driving mode, changes the position for implementing the torsion of the wing from the root of the wing to the side edge of the wing in the aspect of control design, and adjusts the lifting force provided by each wing by controlling the tensioning degree of the wing so as to provide required rotation moment, thereby reducing the influence of the control mechanism on the wing driving mechanism, but only limiting the flexibility and accuracy in controlling the body gesture by adjusting the tensioning degree of the wing.
Disclosure of Invention
The invention aims to provide a hovering ornithopter type aircraft and a flight attitude control method thereof, which are used for solving the problems in the prior art, and realizing flexible and efficient attitude control of the hovering ornithopter type aircraft by combining wing differential motion and tail wing deflection of the aircraft.
In order to achieve the above object, the present invention provides the following solutions:
The invention provides a hovering flapping wing type aircraft, which comprises an engine body and a power mechanism, wherein the power mechanism comprises a wing unit and a tail wing unit; the wing unit comprises a first driving device, a wing transmission mechanism and two wings which are axially and symmetrically arranged, wherein each wing comprises a wing cross rod, wing surfaces and a wing control rod, each wing surface is triangular, one side edge of each wing surface is fixedly connected with the wing cross rod, the corner of each wing surface far away from each wing cross rod is fixedly connected with one end of each wing control rod, each wing surface is a flexible surface, and the first driving device can drive the two wing cross rods to respectively flutter through the wing transmission mechanism; the fin unit includes second drive arrangement, fin control lever, fin montant and sets up tail airfoil on the fin montant, first drive arrangement with second drive arrangement sets firmly respectively on the organism, the other end of fin control lever with the one end of fin control lever respectively with second drive arrangement's output pivot links firmly, a connecting portion has set firmly on the organism, the top of fin montant has set firmly a sliding part, sliding part with connecting portion sliding connection, sliding part is relative can also be relative when connecting portion slides connecting portion rotate, the other end of fin control lever with the fin montant rotates to be connected.
Preferably, the first driving device is a motor, the wing transmission mechanism comprises a first gear, a second gear, a third gear, a fourth gear and a fifth gear, the first gear is fixedly arranged on an output shaft of the first driving device, the second gear, the fourth gear and the fifth gear are respectively arranged on the machine 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 bars are rotationally connected with the machine body, a connecting rod is rotationally connected with the eccentric position of the fourth gear and the eccentric position of the fifth gear respectively, the two connecting rods are in one-to-one correspondence with the two wing cross bars, and the other ends of the connecting rods are rotationally connected with the corresponding wing cross bars.
Preferably, the rotational connection of the wing cross bar and the machine body is closer to the wing surface than the rotational connection of the wing cross bar and the connecting rod.
Preferably, the sliding part is a sliding block, the connecting part is an inserting rod, an elongated slot is arranged in the sliding block, and the inserting rod is arranged in the elongated slot in a penetrating mode.
Preferably, the machine body is fixedly provided with a machine body vertical rod, and the second driving device and the connecting part are respectively fixedly arranged on the machine body vertical rod.
Preferably, a vertical plate is further fixedly arranged on the machine body vertical rod, and one side of the sliding block is in contact with the vertical plate.
Preferably, the number of the power mechanisms is two, and the two power mechanisms are symmetrically arranged.
Preferably, two wing control rods in the same power mechanism are respectively positioned at two sides of the second driving device in the same power mechanism, and the tail wing control rod is positioned between two wing control rods in the same power mechanism.
Preferably, the second driving device is a steering engine; the wing surface is made of a high polymer film with high toughness, the tail surface is made of an elastic high polymer sheet, and the wing cross rod and the tail vertical rod are elastic and made of metal materials respectively; and the elasticity of the wing cross rod is gradually increased from one end close to the machine body to one end far away from the machine body.
The invention also provides a flight attitude control method based on the hovering flapping wing type aircraft, which comprises the following steps:
s1: starting the aircraft;
S2: determining the target flight attitude of the aircraft, and detecting current flight attitude data of the aircraft through a sensor;
s3: performing aircraft motion control operation to obtain various rotation moment adjustment instructions of the required machine body;
S4: converting each rotating moment adjusting instruction of the aircraft body to obtain an adjusting instruction of wing differential and tail wing deflection of the aircraft;
S5: generating a driving signal to control the first driving device and the second driving device, so as to realize the adjustment of the flight attitude of the aircraft; and returning to the step S2, forming closed-loop control of the flight attitude of the aircraft, so that the flapping-wing aircraft stably hovers or flexibly moves according to the target flight attitude.
Compared with the prior art, the invention has the following technical effects:
The hovering ornithopter and the flight attitude control method thereof realize flexible and efficient attitude control of the hovering ornithopter by combining the differential motion of wings and the deflection of tail wings of the ornithopter. The hovering flapping-wing type aircraft combines the wing differential motion and the tail wing deflection of the aircraft to generate various rotating moments of the aircraft body, is used for controlling the flight attitude of the aircraft, and simultaneously controls the lifting force of each wing and the stress of the tail wing by controlling the rotating speeds of two groups of driving motors and the rotating angles of two groups of tail wing steering engines, so that the range of the generated rotating moments of the aircraft body is enlarged, and the flexibility of the flight attitude adjustment of the aircraft is enhanced; the equidirectional deflection of the two groups of the tail wing surfaces of the innovative design is used for providing rolling moment, the opposite deflection is used for providing yaw moment, and other moments generated by the yaw moment can be offset, so that the stability of the aircraft in attitude control is enhanced; the yaw moment is provided by the deflection of the tail wing, so that the influence on the wing structure and the stability of the wing movement caused by the need of providing the yaw moment by twisting the plane angle of the wing in the existing design is avoided; the sliding block mechanism design of the tail wing enlarges the deflection angle of the tail wing, so as to enlarge the deflection adjusting range of the tail wing in the limited wing relaxation adjusting range and enhance the control function of the tail wing on the flight attitude of the aircraft; the sector design of the tail wing surface and the partial fixed design of the tail wing on the tail wing vertical rod enable the tail wing surface to generate passive torsion deformation when the tail wing deflects in flight so as to obtain triaxial rotation moment at the same time, and the three-axis rotation moment is used for high-efficiency control of the flight attitude of the aircraft.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a hovering, flapping-wing aircraft of the present invention;
FIG. 2 is a schematic view of a portion of the structure of a hovering, flapping-wing aircraft of the present invention;
FIG. 3 is a schematic diagram of a portion of a hovering ornithopter in accordance with the present invention;
FIG. 4 is a schematic representation of a portion of a hovering ornithopter in accordance with the present invention;
FIG. 5 is a schematic illustration of the flight attitude and body forces of a hoverable ornithopter in accordance with the present invention;
FIG. 6 is a flow chart of a method of controlling the attitude of a hovering, flapping-wing aircraft according to the present invention;
Wherein: 100. hovering ornithopter; 1. a wing airfoil; 2. a wing rail; 3. a body; 4. a first driving device; 5. a tail airfoil; 6. a second driving device; 7. a first gear; 8. a second gear; 9. a third gear; 10. a fourth gear; 11. a fifth gear; 12. a connecting rod; 13. wing control sticks; 14. a tail control lever; 15. a fuselage vertical rod; 16. a slide block; 17. a riser; 18. tail wing vertical rods; 19. a rod; 20. an elongated slot.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art based on the embodiments of the invention without any inventive effort, are intended to fall within the scope of the invention.
The invention aims to provide a hovering ornithopter type aircraft and a flight attitude control method thereof, which are used for solving the problems in the prior art, and realizing flexible and efficient attitude control of the hovering ornithopter type aircraft by combining wing differential motion and tail wing deflection of the aircraft.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 to 6: the present embodiment provides a hovering ornithopter 100 comprising a fuselage 3 and two symmetrically arranged power mechanisms, each comprising a wing unit and a tail unit.
The wing unit comprises a first driving device 4, a wing transmission mechanism and two axisymmetrically arranged wings, wherein the first driving device 4 is fixedly arranged on a machine body 3, each wing comprises a wing cross rod 2, a wing surface 1 and a wing control rod 13, each wing surface 1 is triangular, one side edge of each wing surface 1 is fixedly connected with the wing cross rod 2, the corner of each wing surface 1 far away from the wing cross rod 2 is fixedly connected with one end of each wing control rod 13, each wing surface 1 is a flexible surface, each wing surface 1 is made of a high-molecular polymer film with high toughness, each wing cross rod 2 is elastic and made of a metal material, and the elasticity of one end, close to the machine body 3, of each wing cross rod 2 to one end far away from the machine body 3 is gradually increased.
The first drive means 4 are able to drive the two wing cross bars 2 via the wing transmission mechanism to flutter respectively. Specifically, the first driving device 4 adopts a driving motor, the wing transmission mechanism comprises 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 fixedly arranged on an output shaft of the first driving device 4, the second gear 8, the fourth gear 10 and the fifth gear 11 are respectively arranged on the machine body 3, the second gear 8 is meshed with the first gear 7, the third gear 9 and the second gear 8 are integrally formed and 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 bars 2 are rotationally connected with the machine body 3, the eccentric part of the fourth gear 10 and the eccentric part of the fifth gear 11 are respectively rotationally connected with a connecting rod 12, the two connecting rods 12 are in one-to-one correspondence with the two wing cross bars 2, and the other ends of the connecting rods 12 are rotationally connected with the corresponding wing cross bars 2; the rotation connection position of the wing cross rod 2 and the machine body 3 is closer to the wing surface 1 than the rotation connection position of the wing cross rod 2 and the connecting rod 12.
When the first driving device 4 works, the first gear 7 is driven 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 rods 12 to eccentrically swing, and the connecting rods 12 drive the wing cross rod 2 to continuously flap by taking the rotating joint of the wing cross rod 2 and the machine body 3 as an axis.
The fin unit includes second drive arrangement 6, fin control lever 14, fin montant 18 and sets up the tailstock face 5 on fin montant 18, set firmly a fuselage montant 15 on the organism 3, second drive arrangement 6 sets firmly on fuselage montant 15, the other end of fin control lever 13 and the one end of fin control lever 14 link firmly with the output pivot of second drive arrangement 6 respectively, set firmly a connecting portion on the fuselage montant 15, the top of fin montant 18 has set firmly a sliding part, sliding part and connecting portion sliding connection, can also relative connecting portion rotate when sliding part relative connecting portion slides, the other end and the fin montant 18 of fin control lever 14 rotate to be connected.
In this embodiment, the sliding portion is a slider 16, the connecting portion is a rod 19, a long slot 20 is disposed in the slider 16, and the rod 19 is inserted into the long slot 20. A vertical plate 17 is also fixedly arranged on the machine body vertical rod 15, and one side of the sliding block 16 is contacted with the vertical plate 17. The second driving device 6 adopts a steering engine; the tail wing surface 5 is made of elastic high polymer thin plates, and the tail wing vertical rod 18 is elastic and made of metal materials; the tail wing surface 5 is initially positioned on the symmetrical plane of two wings in the same group of power mechanism; the inner edge of the tail airfoil 5 is a straight line, the outer edge of the tail airfoil 5 is a curve, and the tail airfoil 5 is in a sector shape with a narrow upper part and a wide lower part; only the upper part of the inner edge of the tail wing 5 is fixed on the tail wing vertical rod 18, the lower part and the outer edge of the inner edge are unconstrained, and the fixed proportion of the inner edge is more than 50%.
The tail control rod 14, the tail vertical rod 18 and the tail surface 5 in the initial state are all in the vertical direction; each tail steering engine can be controlled to drive a fixed tail control rod 14 and two wing control rods 13 to deflect synchronously at two sides of an initial position; in the initial state, each wing control rod 13 is vertical to the outer edge of the wing surface 1 connected with the wing control rod, the deflection of each wing control rod 13 can change the relaxation state of the connected wing, 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 through the slide block 16 mechanism, the deflection angle of the tail vertical rod 18 relative to the initial vertical direction is larger than the deflection angle of the tail control rod 14, and the specific amplification effect is determined by the position optimization of the slide block 16 mechanism in the tail structure design.
A battery and a control circuit board are also fixedly arranged on the machine body 3, and the first driving device 4 and the second driving device 6 are respectively connected with the control circuit board through signals.
Two wing control rods 13 in the same power mechanism are respectively positioned at two sides of the second driving device 6 in the same power mechanism, and a tail wing control rod 14 is positioned between the two wing control rods 13 in the same power mechanism. The second driving device 6 drives the two wing control rods 13 and the one tail wing control rod 14 to deflect simultaneously, the deflection of the two wing control rods 13 controls the relaxation degree of the wing surfaces 1 connected with the two wing control rods, one wing surface 1 is relaxed, the other wing surface 1 is tensioned, the wing surface 1 can obtain larger lifting force when flapping, and the rotation moment of the machine body 3 is generated by the lifting force difference obtained by the relaxation degree difference of the two wing surfaces 1; the tail wing control rod 14 drives the tail wing vertical rod 18 and the tail wing 5 to deflect to one side, the tail wing 5 deflected to one side and the flapping central plane of the wing form a certain inclination angle, the tail wing 5 is subjected to the action of wing flapping to generate airflow, the sector surface of the tail wing 5 is stressed to be deformed downwards in a torsion mode, namely, the part of the inner side of the tail wing 5 fixed with the tail wing vertical rod 18 is free from deformation displacement, the downward deformation displacement of the part of the inner side of the tail wing 5, which is unfixed, is gradually increased from the bottom end of the tail wing vertical rod 18 to the bottom end of the inner side of the tail wing 5, the downward deformation displacement of the outer edge of the tail wing 5 is gradually increased from the upper end to the arc top of the sector, the whole tail wing 5 is in a blade shape which is inclined in a torsion downwards, and then the tail wing is simultaneously subjected to the action of three axial component forces, and three axial rotation moments of the machine body 3 are correspondingly generated. Therefore, the hovering ornithopter 100 of the embodiment can simultaneously combine wing differential motion and tail wing deflection of the aerocraft to generate various rotation moments of the machine body 3 for controlling the flight attitude of the aerocraft; further based on the design of the tail wing mechanism, on one hand, the deflection of the tail wing surface 5 is synchronous with the relaxation adjustment of the wings at two sides and has a certain proportional relationship, the deflection angle of the tail wing steering engine is uniformly controlled, and on the other hand, the deflection angle of the tail wing surface 5 is amplified, so that the control effect of the tail wing surface 5 on the flight attitude is enhanced.
The embodiment also provides a flight attitude control method of the hovering ornithopter 100, which comprises the following steps:
s1, starting an aircraft, and controlling each module on a circuit board to normally operate;
The control circuit board is horizontally and fixedly arranged on the aircraft body and at least comprises a power supply module, a sensing module, a controller module and a driving module, and a communication module is optionally arranged on the control circuit board; the power module is connected with the battery and provides the required direct-current voltage for other modules; the sensing module at least comprises a sensor for detecting pitching, rolling and yawing attitude angles of the aircraft, and is used for detecting real-time flight attitude data of the aircraft, and outputting a sensing signal to be input into the controller module; the controller module comprises a microprocessor, and the microprocessor can adopt devices such as a DSP (digital signal processor) and a RAM (random access memory) which meet the requirements of sensing and control operation, and is used for collecting and processing the attitude information of the aircraft and operating to generate an aircraft control signal, and the output control signal is input into the driving module; the driving module comprises driving output units matched with the first driving devices and the tail steering engines (namely, the second driving devices 6) and is used for receiving the control signals and converting the control signals into high-power driving signals, and the output driving signals are connected with corresponding motors to drive the motors to rotate; the communication module comprises a wireless data transmission device and is used for receiving a flight attitude control instruction when remote control is needed, and the output communication data is input into the controller module and is used for updating the current target flight attitude of the aircraft.
S2, determining the target flight attitude of the aircraft, and detecting current flight attitude data of the aircraft;
The flying attitude of the aircraft target can be determined by a controller program preset instruction or a remote control instruction, wherein the flying attitude comprises a pitch angle, a roll angle and a yaw angle of the aircraft body 3, the rotation angle of the aircraft around a coordinate axis y b of the aircraft body 3 is the pitch angle, the rotation angle of the aircraft around a coordinate axis x b of the aircraft body 3 is the roll angle, the rotation angle of the aircraft around a coordinate axis z b of the aircraft body 3 is the yaw angle, for example, the aircraft is set to maintain an hovering state in indoor environment, the pitch angle and the roll angle of the target are 0 degrees, and the yaw angle of the target is kept unchanged by a forward instruction; the current flight attitude data of the aircraft are detected by a sensing module and comprise the pitch angle, the roll angle and the yaw angle of the current aircraft body 3.
S3, performing aircraft motion control operation to obtain all rotation moment adjustment instructions of the required machine body 3;
And comparing the target flight attitude of the aircraft with the detected current flight attitude, inputting the deviation of each attitude angle of the aircraft body 3 into a preset attitude feedback control program in a controller program, and calculating by a typical PID (proportion integration differentiation) and other control algorithms to obtain the adjustment instructions of the pitching moment tau p, the rolling moment tau r and the yaw moment tau y of the required aircraft body 3.
S4, according to the method for generating the rotation moment of the engine body 3 by the hovering ornithopter 100, the adjustment instruction of the rotation moment of the engine body 3 is converted to obtain the adjustment instruction of the wing differential motion and the tail wing deflection of the aircraft.
Based on the design of the tail wing of the hovering ornithopter 100, the method for generating various rotation moments by the body 3 of the hovering ornithopter 100 comprises the following steps:
Vertical flight: the two groups of first driving devices of the aircraft drive the two groups of wings to flap at the same frequency at the same rotating speed, the corresponding two groups of tail wing steering engines (namely the second driving device 6) keep the middle position, then the four wings obtain the same lifting force, the tail wing surface 5 keeps the vertical direction and does not act on the posture of the machine body 3, and the aircraft only obtains the lifting force in the vertical direction and does not receive the action of rotating moment.
Pitching moment: the two groups of first driving devices which extend the x b shaft are controlled to run at a certain rotation speed difference, the corresponding two groups of tail wing steering engines (namely the second driving device 6) keep the middle position, different lifting forces are obtained by different flapping frequencies of the two groups of wing wings, the tail wing surface 5 always does not act on the posture of the machine body 3 along the x bzb direction, the pitching moment of the machine body 3 around the y b shaft is generated by the lifting force difference obtained by the two groups of wing wings, and the adjustment and control of the pitching angle of the machine body 3 are realized.
Roll moment: two groups of first driving devices which control the X b shaft to drive two groups of wings to flap at the same frequency at the same rotating speed, and two groups of tail wing steering engines (namely the second driving device 6) simultaneously steer to the positive direction of the Y b shaft (the negative direction of the Y b shaft): on one hand, the two wings on one side of the y b axis in the negative direction (the y b axis in the positive direction) are tensioned to obtain larger lifting force, so that rolling moment around the x b axis is generated; on the other hand, the two tail wings 5 deflect towards the positive direction of the y b axis (the negative direction of the y b axis) at the same time, and the stress of the tail wings generates the rolling moment around the x b axis in the same direction on the machine body 3, and the pitching moment around the y b axis and the yaw moment around the z b axis which are counteracted reversely; the rolling moment generated by the two functions is overlapped in the same direction, so that the adjustment and control of the rolling angle of the machine body 3 are realized.
Yaw moment: two groups of first driving devices which control the X b shaft to drive two groups of wings to flap at the same frequency at the same rotating speed, and two groups of tail wing steering engines (namely the second driving device 6) respectively steer to the y b shaft negative direction (y b shaft positive direction) and the y b shaft positive direction (y b shaft negative direction): on one hand, the wings which are diagonally distributed are simultaneously tensioned or loosened, so that rolling moment and pitching moment generated by lift force difference caused by relaxation difference of the wings on the two sides of the x b axis and the y b axis are respectively counteracted; on the other hand, the two tail wings 5 deflect towards the negative direction of the y b axis (positive direction of the y b axis) and the positive direction of the y b axis (negative direction of the y b axis), and the stress of the tail wings generates the yaw moment around the z b axis in the same direction on the machine body 3, and the pitching moment around the y b axis and the rolling moment around the x b axis which are counteracted in the opposite direction; the yaw moment of the aircraft body 3 around the z b axis is mainly generated by the deflection of the tail wing, so that the adjustment and control of the yaw angle of the aircraft body 3 are realized.
According to the method for generating each rotation moment of the body 3 of the hovering ornithopter 100 of the present invention, and the mapping relation between the rotation speed and the rotation speed difference of the two sets of the first driving devices and the deflection angle of the tail steering engine (i.e. the second driving device 6) and the generation of each rotation moment, the adjustment instruction of each rotation moment of the body 3 of the ornithopter is converted into the adjustment instruction of the rotation speed of the two sets of the first driving devices and the deflection angle of the two sets of the tail steering engine (i.e. the second driving device 6) of the aerocraft.
S5, generating driving signals to control the first driving devices and the tail steering engine (namely the second driving device 6), so as to realize the adjustment of the flight attitude of the aircraft.
After the controller module in the aircraft control circuit board performs the above operation, control signals corresponding to the two groups of first driving devices and the two groups of tail steering engines (namely, the second driving device 6) are generated, and are converted into high-power driving signals matched with the first driving devices and the tail steering engines (namely, the second driving device 6) through the driving output module, so that the rotation of each motor is realized, the movement of each wing and the movement of the tail wing are regulated, and the control of the flight attitude of the flapping-wing aircraft is realized.
Returning to the step S2, forming closed-loop control of the flight attitude of the aircraft, so that the flapping wing aircraft stably hovers or flexibly moves according to the target flight attitude.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "vertical", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (4)
1. A hovering ornithopter, characterized by: the wing-type aircraft comprises an aircraft body and two power mechanisms, wherein the two power mechanisms are symmetrically arranged, and each 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 which are axially and symmetrically arranged, wherein each wing comprises a wing cross rod, wing surfaces and a wing control rod, each wing surface is triangular, one side edge of each wing surface is fixedly connected with the wing cross rod, the corner of each wing surface far away from each wing cross rod is fixedly connected with one end of each wing control rod, each wing surface is a flexible surface, and the first driving device can drive the two wing cross rods to respectively flutter through the wing transmission mechanism; the tail unit comprises a second driving device, a tail control rod, a tail vertical rod and a tail surface arranged on the tail vertical rod, wherein the first driving device and the second driving device are respectively and fixedly arranged on the machine body, the other end of the wing control rod and one end of the tail control rod are respectively and fixedly connected with an output rotating shaft of the second driving device, a connecting part is fixedly arranged on the machine body, the top end of the tail vertical rod is fixedly provided with a sliding part, the sliding part is in sliding connection with the connecting part, the sliding part can also rotate relative to the connecting part when sliding relative to the connecting part, and the other end of the tail control rod is in rotating connection with the tail vertical rod;
The sliding part is a sliding block, the connecting part is an inserting rod, a long groove is arranged in the sliding block, and the inserting rod is arranged in the long groove in a penetrating manner; the machine body is fixedly provided with a machine body vertical rod, and the second driving device and the connecting part are respectively fixedly arranged on the machine body vertical rod; a vertical plate is fixedly arranged on the machine body vertical rod, and one side of the sliding block is contacted with the vertical plate; two wing control rods in the same power mechanism are respectively positioned at two sides of the second driving device in the same power mechanism, and the tail wing control rods are positioned between the two wing control rods in the same power mechanism; the second driving device is a steering engine; the wing surface is made of a high polymer film with high toughness, the tail surface is made of an elastic high polymer sheet, and the wing cross rod and the tail vertical rod are elastic and made of metal materials respectively; the elasticity of the wing cross rod is gradually increased from one end close to the machine body to one end far away from the machine body;
the same-direction deflection of the two groups of tail airfoils provides rolling moment, and the opposite-direction deflection of the two groups of tail airfoils provides yaw moment.
2. The hovering ornithopter of claim 1, wherein: the first driving device is a motor, the wing transmission mechanism comprises a first gear, a second gear, a third gear, a fourth gear and a fifth gear, the first gear is fixedly arranged on an output shaft of the first driving device, the second gear, the fourth gear and the fifth gear are respectively arranged on the machine 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 bars are rotationally connected with the machine body, a connecting rod is rotationally connected with the eccentric position of the fourth gear and the eccentric position of the fifth gear respectively, the two connecting rods are in one-to-one correspondence with the two wing cross bars, and the other ends of the connecting rods are rotationally connected with the corresponding wing cross bars.
3. The hovering ornithopter of claim 2, wherein: the rotational connection of the wing cross rod and the machine body is closer to the wing surface than the rotational connection of the wing cross rod and the connecting rod.
4. A method of controlling the attitude of a hovering ornithopter according to any of claims 1-3, comprising the steps of:
s1: starting the aircraft;
S2: determining the target flight attitude of the aircraft, and detecting current flight attitude data of the aircraft through a sensor;
s3: performing aircraft motion control operation to obtain various rotation moment adjustment instructions of the required machine body;
S4: converting each rotating moment adjusting instruction of the aircraft body to obtain an adjusting instruction of wing differential and tail wing deflection of the aircraft;
S5: generating a driving signal to control the first driving device and the second driving device, so as to realize the adjustment of the flight attitude of the aircraft; and returning to the step S2, forming closed-loop control of the flight attitude of the aircraft, so that the flapping-wing aircraft stably hovers or flexibly moves according to the target flight attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413254.0A CN114789790B (en) | 2022-04-20 | 2022-04-20 | Hovering flapping wing type aircraft and flight attitude control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210413254.0A CN114789790B (en) | 2022-04-20 | 2022-04-20 | Hovering flapping wing type aircraft and flight attitude control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114789790A CN114789790A (en) | 2022-07-26 |
| CN114789790B true CN114789790B (en) | 2024-06-07 |
Family
ID=82461557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210413254.0A Active CN114789790B (en) | 2022-04-20 | 2022-04-20 | Hovering flapping wing type aircraft and flight attitude control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114789790B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2374928A2 (en) * | 1968-12-31 | 1978-07-21 | Ruymbeke Gerard De | Toy flying bird with flapping wings - has elastic band driving crankshaft and connecting rods to wings |
| KR200277498Y1 (en) * | 2002-03-19 | 2002-06-03 | 김진경 | A remote control-flying apparatus with a pair of ornithopter-wings and a tail wing and a floating gas purse |
| KR20050034364A (en) * | 2003-10-09 | 2005-04-14 | 이영욱 | Attitude control apparatus and radio-controlled ornithopter comprising the same |
| KR20070058808A (en) * | 2005-12-05 | 2007-06-11 | 주식회사마이크로에어로봇 | Flapping device |
| DE102010051685A1 (en) * | 2010-11-17 | 2012-05-24 | Gerd Mohr | Muscle-powered ornithopter, has wings movably attached above airframe at V-shaped tail unit, where wing movement is produced by analog rowing of arm and foot movement and cross-section of airframe is triangularly formed |
| RU2480378C1 (en) * | 2011-11-01 | 2013-04-27 | Валентин Афанасьевич Киселев | Aircraft |
| CN104943862A (en) * | 2015-05-30 | 2015-09-30 | 北方工业大学 | Under-actuated flexible flat wing-type flapping wing flight robot |
| RU157031U1 (en) * | 2015-06-05 | 2015-11-20 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | DRIVING FLYING WINGS OF Aircraft Model |
| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN112977817A (en) * | 2021-04-26 | 2021-06-18 | 吉林大学 | Flapping wing aircraft |
| CN113844652A (en) * | 2021-11-08 | 2021-12-28 | 北京航空航天大学 | Bionic miniature flapping wing aircraft using empennage for auxiliary control |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
-
2022
- 2022-04-20 CN CN202210413254.0A patent/CN114789790B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2374928A2 (en) * | 1968-12-31 | 1978-07-21 | Ruymbeke Gerard De | Toy flying bird with flapping wings - has elastic band driving crankshaft and connecting rods to wings |
| KR200277498Y1 (en) * | 2002-03-19 | 2002-06-03 | 김진경 | A remote control-flying apparatus with a pair of ornithopter-wings and a tail wing and a floating gas purse |
| KR20050034364A (en) * | 2003-10-09 | 2005-04-14 | 이영욱 | Attitude control apparatus and radio-controlled ornithopter comprising the same |
| KR20070058808A (en) * | 2005-12-05 | 2007-06-11 | 주식회사마이크로에어로봇 | Flapping device |
| DE102010051685A1 (en) * | 2010-11-17 | 2012-05-24 | Gerd Mohr | Muscle-powered ornithopter, has wings movably attached above airframe at V-shaped tail unit, where wing movement is produced by analog rowing of arm and foot movement and cross-section of airframe is triangularly formed |
| RU2480378C1 (en) * | 2011-11-01 | 2013-04-27 | Валентин Афанасьевич Киселев | Aircraft |
| CN104943862A (en) * | 2015-05-30 | 2015-09-30 | 北方工业大学 | Under-actuated flexible flat wing-type flapping wing flight robot |
| RU157031U1 (en) * | 2015-06-05 | 2015-11-20 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | DRIVING FLYING WINGS OF Aircraft Model |
| CN112124582A (en) * | 2020-09-18 | 2020-12-25 | 中国科学院沈阳自动化研究所 | Four-flapping-wing aircraft and control method thereof |
| CN112977817A (en) * | 2021-04-26 | 2021-06-18 | 吉林大学 | Flapping wing aircraft |
| CN113844652A (en) * | 2021-11-08 | 2021-12-28 | 北京航空航天大学 | Bionic miniature flapping wing aircraft using empennage for auxiliary control |
| CN114180055A (en) * | 2021-12-17 | 2022-03-15 | 北京航天测控技术有限公司 | Piezoelectric driving type micro flapping wing aircraft and flight control method |
Non-Patent Citations (1)
| Title |
|---|
| 微型扑翼飞行器的研究现状与趋势;李航;北方工业大学学报;20181031(第05期);90-98页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114789790A (en) | 2022-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zufferey et al. | Design of the high-payload flapping wing robot e-flap | |
| CN108438220B (en) | Multi-degree-of-freedom dragonfly-imitating flapping-wing aircraft and control method thereof | |
| Karasek et al. | Pitch and roll control mechanism for a hovering flapping wing MAV | |
| CN112009682B (en) | Bionic flapping wing micro aircraft for realizing high control torque generation based on double-wing differential motion and steering engine gravity center change | |
| CN112298552B (en) | Miniature double-flapping-wing aircraft capable of being controlled by autonomous stability augmentation and control moment generation method thereof | |
| WO2017024623A1 (en) | Variable pitch rotorcraft and multirotor | |
| Nguyen et al. | Design, fabrication, and performance test of a hovering-based flapping-wing micro air vehicle capable of sustained and controlled flight | |
| CN112009681B (en) | Bionic flapping wing micro aircraft with adjustable flapping angle average position and flight control method thereof | |
| CN110703788A (en) | Stability augmentation control method of miniature flapping-wing aircraft and implementation thereof | |
| CN204895843U (en) | Multiaxis aircraft | |
| CN110329497A (en) | The multi-rotor unmanned aerial vehicle and its control method of a kind of paddle face variable-angle | |
| US20220355923A1 (en) | High-speed, vertical take-off and landing aircraft | |
| CN111086634B (en) | Dragonfly-like double-flapping-wing micro aircraft | |
| CN111268096A (en) | Steering engine-free variable-pitch rotor system module and helicopter | |
| CN107352030B (en) | Micro flapping rotor wing aircraft with double wings flapping differentially | |
| CN112124582A (en) | Four-flapping-wing aircraft and control method thereof | |
| Song et al. | Review of insect-inspired wing micro air vehicle | |
| CN114789790B (en) | Hovering flapping wing type aircraft and flight attitude control method thereof | |
| Fujii et al. | Hummingbird-bat hybrid wing by 3-D printing | |
| CN116215903A (en) | Small tailstock type double-wing four-paddle unmanned aerial vehicle and control method | |
| Chi et al. | A tailless butterfly-type ornithopter with low aspect ratio wings | |
| CN105691594A (en) | Novel control method and device for flying wing aircraft | |
| CN115973414A (en) | Miniature flapping wing aircraft based on cross tail control | |
| CN212243791U (en) | Variable-pitch rotor system module controlled by electric regulation and helicopter | |
| CN109436320B (en) | Aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |