CN115542937B - Flapping wing aircraft control method and device, electronic equipment and storage medium - Google Patents
Flapping wing aircraft control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a control method and device of an ornithopter, electronic equipment and a storage medium, and relates to the technical field of aircrafts. The method comprises the steps of obtaining attitude model data of a fixed-wing aircraft in unpowered flight in a specific ascending flow field, feeding the attitude model data back to the flapping-wing aircraft in the specific ascending flow field, and controlling the flight attitude of the flapping-wing aircraft in the specific ascending flow field based on the attitude model data, so that the aerodynamic energy consumption of the flapping-wing aircraft can be reduced, and the method is not limited by the specific ascending flow field.
Description
Technical Field
The present application relates to the field of aircraft technologies, and in particular, to a method and an apparatus for controlling an ornithopter, an electronic device, and a storage medium.
Background
With the development of science and technology, the flapping wing aircraft is a new bionic aircraft, is a bionic robot manufactured by simulating the flight mode of insects and birds, has the remarkable advantages of high efficiency, light weight, strong maneuverability, low energy consumption and the like, and has wide application prospect in the fields of national defense and military and civil use. At present, the aerodynamic energy consumption of the flapping wing aircraft can be reduced, but the effect on reducing the aerodynamic energy consumption of the flapping wing aircraft under a specific environment is limited.
Disclosure of Invention
In view of the above problems, the present application proposes a control method, apparatus, electronic device, and storage medium for an ornithopter to solve the above problems.
In a first aspect, an embodiment of the present application provides an ornithopter control method, where the method includes: acquiring attitude model data of a fixed wing aircraft in unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel; and controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
In a second aspect, embodiments of the present application provide an ornithopter control device, the device comprising: the attitude model data acquisition module is used for acquiring attitude model data of the fixed-wing aircraft during unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel; and the flight attitude control module is used for controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory is coupled to the processor, and the memory stores instructions, and when the instructions are executed by the processor, the processor executes the method described above.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program code is stored, and the program code may be called by a processor to execute the foregoing method.
The flapping wing aircraft control method, the flapping wing aircraft control device, the electronic equipment and the storage medium provided by the embodiment of the application acquire attitude model data of a fixed wing aircraft in unpowered flight in a specific ascending flow field, feed the attitude model data back to the flapping wing aircraft in the specific ascending flow field, and control the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data, so that the aerodynamic energy consumption of the flapping wing aircraft can be reduced, and the control method is not limited by the specific ascending flow field.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a control method for an ornithopter provided by an embodiment of the present application;
FIG. 2 is a schematic view illustrating a transition of flight attitudes of a fixed-wing aircraft and a flapping-wing aircraft according to the control method of the flapping-wing aircraft provided by the embodiment of the application;
FIG. 3 is a schematic flow chart diagram illustrating a control method for an ornithopter according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating unpowered flight of a fixed-wing aircraft in a specific updraft field by the flapping wing aircraft control method provided by the embodiment of the application;
FIG. 5 illustrates a flow chart of step S210 of the ornithopter control method of FIG. 3 of the present application;
FIG. 6 is a schematic view of the flight angle of a fixed-wing aircraft in the flapping wing aircraft control method provided by the embodiment of the application;
FIG. 7 illustrates a block diagram of a flapping wing aircraft apparatus according to an embodiment of the present application;
FIG. 8 illustrates a block diagram of an electronic device for performing a method of controlling an ornithopter according to an embodiment of the present application;
fig. 9 shows a memory unit for storing or carrying program code implementing a method for controlling an ornithopter according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The flapping wing air vehicle is an air vehicle which generates lift force and thrust force through active movement of wings, and has higher maneuverability and flexibility. Under load limitation, energy efficiency problems are important factors that restrict the development of ornithopters. When the flapping wing aircraft flies, the airflow around the wings of the flapping wing aircraft changes extremely complexly, and the flapping wing aircraft has turbulence in all directions of air and also has vortex caused by the relative air movement of the flapping wings. Therefore, aerodynamic energy consumption generated by the interaction of the flapping wings and the air is a main concern for the energy consumption control of the flapping wing flight.
At present, the aerodynamic energy consumption of a flapping wing aircraft can be reduced by optimizing the aerodynamic shape of the flapping wings and improving the efficiency of a flapping system. However, under a specific flow field environment, two methods for optimizing the aerodynamic shape of the flapping wings and improving the efficiency of the flapping system have limited effect on reducing the aerodynamic energy consumption of the flapping wing aircraft.
In view of the above problems, the inventor finds, through long-term research, that the method, the device, the server, and the storage medium for controlling the flapping wing aircraft provided in the embodiment of the present application are provided, by acquiring attitude model data of the fixed wing aircraft during unpowered flight in a specific ascent flow field, feeding the attitude model data back to the flapping wing aircraft in the specific ascent flow field, and controlling the flight attitude of the flapping wing aircraft in the specific ascent flow field based on the attitude model data, thereby reducing the aerodynamic energy consumption of the flapping wing aircraft without being limited by the specific ascent flow field. The specific control method of the flapping wing aircraft is explained in detail in the subsequent embodiments.
Referring to fig. 1, fig. 1 shows a schematic flow chart of a control method of an ornithopter according to an embodiment of the present application. In a specific embodiment, the flapping wing aircraft control method is applied to the flapping wing aircraft control apparatus 200 shown in fig. 7 and the electronic device 100 (fig. 8) equipped with the flapping wing aircraft control apparatus 200. The following will describe a specific flow of the present embodiment by taking an electronic device as an example. As will be explained in detail with respect to the flow shown in fig. 1, the flapping wing aircraft control method may specifically include the following steps:
step S110: acquiring attitude model data of the fixed-wing aircraft in unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel.
In this embodiment, a wind tunnel is established to provide a specific updraft environment in which a fixed wing aircraft is placed. The electronic device may obtain attitude model data of the fixed-wing aircraft during unpowered flight in the particular updraft field.
In some embodiments, the electronic device may adjust a flight attitude of the fixed-wing aircraft in the particular updraft field and obtain attitude model data of the fixed-wing aircraft in the particular updraft field. As a mode, when the electronic device adjusts the flight attitude of the fixed-wing aircraft in the specific ascent flow field to unpowered flight, the attitude model data of the fixed-wing aircraft in the specific ascent flow field during unpowered flight is obtained. As another mode, the electronic device may obtain, in real time, attitude model data of the fixed-wing aircraft in the specific ascent flow field, where the attitude model data includes attitude model data of the fixed-wing aircraft during unpowered flight in the specific ascent flow field.
Step S120: controlling a flight attitude of the ornithopter in the particular ascent flow field based on the attitude model data.
In this embodiment, the electronic device may control the flight attitude of the flapping wing aircraft in the specific ascent flow field according to attitude model data of the fixed wing aircraft in unpowered flight in the specific ascent flow field.
In some embodiments, the electronic device may preset and store the attitude model data of the fixed-wing aircraft in unpowered flight in the specific ascent flow field, and the corresponding relationship between the flight attitude of the flapping-wing aircraft in the specific ascent flow field. When the electronic equipment acquires attitude model data of the fixed-wing aircraft during unpowered flight in the specific ascending flow field, the flight attitude of the flapping-wing aircraft in the specific ascending flow field can be controlled, and the flight attitude of the flapping-wing aircraft in uniform-speed upward spiral flight in the specific ascending flow field is realized.
In some embodiments, referring to fig. 2, fig. 2 illustrates a fixed-wing aircraft and a flapping wing of a control method of a flapping-wing aircraft according to an embodiment of the present applicationAnd (4) converting the flight attitude of the aircraft. In fig. 2, the flight attitude of the fixed-wing aircraft is shown at the upper part, and the flight attitude of the flapping-wing aircraft is shown at the lower part. Wherein in the flight attitude of the fixed-wing aircraft shown in FIG. 2, the x-axis represents the axis of the fuselage of the fixed-wing aircraft, the y-axis represents the normal to the plane of the wing chord line of the fixed-wing aircraft,
Is expressed as the attack angle of the fixed-wing aircraft during unpowered flight in a specific ascending flow field,
Expressed as the sideslip angle, when the fixed-wing aircraft is in unpowered flight in a specific ascending flow field,
Expressed as the roll angle of the fixed-wing aircraft during unpowered flight in a specific ascending flow field, mg expressed as the gravity borne by the fixed-wing aircraft, L expressed as the lift borne by the fixed-wing aircraft, D expressed as the drag borne by the fixed-wing aircraft, and V expressed as the speed of the fixed-wing aircraft, in the flight attitude of the flapping-wing aircraft shown in fig. 2, the x-axis is expressed as the axis of the fuselage of the flapping-wing aircraft, the y-axis is expressed as the normal to the plane of the wing chord line of the flapping-wing aircraft,
Shows the attack angle of the flapping wing air vehicle when the flapping wing air vehicle flies in a specific ascending flow field without power,
Representing the sideslip angle of the flapping wing aircraft during unpowered flight in a specific ascending flow field,
Showing the roll angle of the flapping wing aircraft during unpowered flight in a specific ascending flow field,
Representing the gravity of the flapping wing aircraft,
Expressed as the lift force suffered by the flapping wing aircraft,
Expressed as the resistance experienced by the ornithopter,
Expressed as the speed of the ornithopter. The attitude model data of the fixed-wing aircraft during unpowered flight in the specific ascending flow field can comprise the stress relation of the fixed-wing aircraft, the stress relation of the flapping-wing aircraft is obtained according to the stress relation of the fixed-wing aircraft, namely the stress relation of the fixed-wing aircraft is the same as the stress relation of the flapping-wing aircraft, the flight angle of the flapping-wing aircraft is calculated according to the stress relation of the flapping-wing aircraft, and the flight attitude of the flapping-wing aircraft in the specific ascending flow field is controlled according to the flight angle of the flapping-wing aircraft, namely, the attitude model data of the fixed-wing aircraft during unpowered flight in the specific ascending flow field is utilized under the specific ascending flow field environment and fed back to the flapping-wing aircraft to correct the flight attitude, so that the flight attitude of the flapping-wing aircraft during uniform upward hovering flight in the specific ascending flow field is realized, and even the flapping flight of the flapping-wing aircraft is realized without power climbing.
In some embodiments, the electronic device may establish a correspondence between the specific ascent flow field and a flight attitude of the flapping wing aircraft when the flapping wing aircraft is flying unpowered in the specific ascent flow field, based on the attitude model data of the fixed wing aircraft when flying unpowered in the specific ascent flow field and the flight attitude of the flapping wing aircraft when flying unpowered in the specific ascent flow field. As shown in table 1, when the specific ascending flow field is ascending flow field 1, the flight attitude of the flapping wing aircraft during unpowered flight in the specific ascending flow field is flight attitude 1; when the specific ascending flow field is the ascending flow field 2, the flight attitude of the flapping wing aircraft in the specific ascending flow field during unpowered flight is the flight attitude 2.
TABLE 1
The flapping wing aircraft control method provided by the embodiment of the application obtains attitude model data of a fixed wing aircraft in unpowered flight in a specific ascending flow field, feeds the attitude model data back to the flapping wing aircraft in the specific ascending flow field, and controls the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data, so that the aerodynamic energy consumption of the flapping wing aircraft can be reduced, and the control method is not limited by the specific ascending flow field.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a control method of an ornithopter according to an embodiment of the present disclosure. As will be explained in detail below with respect to the flow shown in fig. 3, the flapping wing aircraft control method may specifically include the following steps:
step S210: and adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power.
In this embodiment, the electronic device may adjust the flight attitude of the fixed-wing aircraft in the specific ascent flow field until the fixed-wing aircraft does not fly unpowered in the specific ascent flow field. Referring to fig. 4, fig. 4 is a schematic view illustrating unpowered flight of a fixed-wing aircraft in a specific updraft field by the flapping-wing aircraft control method according to the embodiment of the present application.
In some embodiments, the electronic device may adjust the flight attitude of the fixed-wing aircraft in the particular updraft field by adjusting the flight angle of the fixed-wing aircraft in the particular updraft field until the fixed-wing aircraft is unpowered to fly in the particular updraft field.
In some embodiments, the fixed-wing aircraft may include a flight control system, and the electronic device may control the flight control system to adjust a flight angle of the fixed-wing aircraft in the specific updraft field and adjust a flight attitude of the fixed-wing aircraft in the specific updraft field by the flight control system until the fixed-wing aircraft is unpowered to fly in the specific updraft field.
Referring to fig. 5, fig. 5 is a schematic flow chart illustrating step S210 of the flapping wing aircraft control method of fig. 3 according to the present application. As will be explained in detail with respect to the flow shown in fig. 3, the flapping wing aircraft control method may specifically include the following steps:
step S211: and adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field, and keeping the fixed-wing aircraft in horizontal hovering flight in the specific ascending flow field.
In this embodiment, the electronic device may maintain the fixed-wing aircraft to hover horizontally in the specific ascent flow field by adjusting a flight attitude of the fixed-wing aircraft in the specific ascent flow field.
Referring to fig. 6, fig. 6 shows a schematic flight angle diagram of a fixed-wing aircraft in the flapping-wing aircraft control method provided by the embodiment of the present application. Wherein the x-axis represents the axis of the fixed wing aircraft fuselage, the y-axis represents the normal direction of the plane of the wing chord line of the fixed wing aircraft, and,
Is expressed as the attack angle of the fixed-wing aircraft during unpowered flight in a specific ascending flow field,
Expressed as the sideslip angle, when the fixed-wing aircraft is in unpowered flight in a specific ascending flow field,
Expressed as the roll angle of the fixed-wing aircraft during unpowered flight in a particular updraft field, mg expressed as the weight force experienced by the fixed-wing aircraft, L expressed as the lift force experienced by the fixed-wing aircraft, D expressed as the drag force experienced by the fixed-wing aircraft, and V expressed as the velocity of the fixed-wing aircraft.
In some embodiments, the electronic device may adjust the flight attitude of the fixed-wing aircraft in the specific ascent flow field by adjusting the flight angle of the fixed-wing aircraft in the specific ascent flow field, and maintain the fixed-wing aircraft in horizontal hovering flight in the specific ascent flow field.
In some embodiments, the electronic device may be preset and stored with a preset updraft velocity, the fixed-wing aircraft may include a propulsion motor and a flight control system, and the flight angle of the fixed-wing aircraft may include an angle of attack
Side slip angle
And roll angle
And is not limited herein. When the updraft velocity of a specific updraft field meets a preset updraft velocity, reducing the output power of a propulsion motor of the fixed-wing aircraft, and changing the sideslip angle of the fixed-wing aircraft through a flight control system of the fixed-wing aircraft
And roll angle of the fixed-wing aircraft
To maintain the fixed-wing aircraft in horizontal hover flight.
Step S212: on the basis that the fixed-wing aircraft flies in a horizontal spiral mode in a specific ascending flow field, the flying posture of the fixed-wing aircraft in the specific ascending flow field is adjusted until the fixed-wing aircraft flies in the specific ascending flow field in an unpowered mode.
In this embodiment, on the basis that the fixed-wing aircraft flies in a horizontal spiral manner in the specific ascending flow field, that is, when the fixed-wing aircraft is in a horizontal spiral flying state in the specific ascending flow field, the flying attitude of the fixed-wing aircraft in the specific ascending flow field is adjusted until the fixed-wing aircraft flies in the specific ascending flow field without power.
In some embodiments, when the fixed-wing aircraft is in a horizontal spiral flight state in the specific ascending flow field, the flight attitude of the fixed-wing aircraft in the specific ascending flow field may be adjusted by adjusting the flight angle of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft is in unpowered flight in the specific ascending flow field.
In some embodiments, a fixed-wing aircraft includes a propulsion motor and a flight control system therein, and thus, electronics can control the propulsion motor and the flight control system. When the output power of a propulsion motor of the fixed-wing aircraft is reduced to zero, acquiring the sideslip angle of the fixed-wing aircraft
And roll angle of fixed wing aircraft
. When angle of attack of fixed wing aircraft
When the preset attack angle is met, the sideslip angle of the fixed-wing aircraft is changed and changed through the flight control system of the fixed-wing aircraft
And roll angle of fixed wing aircraft
And the fixed wing aircraft flies upwards at a constant speed.
Step S220: acquiring attitude model data of the fixed-wing aircraft in unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel.
Step S230: and controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
For the detailed description of steps S220 to S230, please refer to steps S110 to S120, which are not described herein again.
Compared with the control method of the flapping wing aircraft shown in fig. 1, the control method of the flapping wing aircraft provided by one embodiment of the application can adjust the flight attitude of the fixed wing aircraft in the specific ascending flow field until the fixed wing aircraft flies in the specific ascending flow field without power, then acquire attitude model data of the fixed wing aircraft during unpowered flight in the specific ascending flow field, feed the attitude model data back to the flapping wing aircraft in the specific ascending flow field, control the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data, so that the control method is not limited by the specific ascending flow field, effectively reduce the output power of a propulsion motor of the flapping wing aircraft in the specific ascending flow field environment, and realize reduction of aerodynamic energy consumption of flapping wing flight.
Referring to fig. 7, fig. 7 shows a block diagram of a control device of an ornithopter according to an embodiment of the present application. The flapping-wing aircraft control device 200 is applied to the electronic equipment, and will be explained with reference to a block diagram shown in fig. 7, and the flapping-wing aircraft control device 200 includes: an attitude model data acquisition module 210 and a flight attitude control module 220, wherein:
the attitude model data obtaining module 210 is configured to obtain attitude model data of the fixed-wing aircraft during unpowered flight in a specific ascent flow field, where the specific ascent flow field is provided through a wind tunnel.
And a flight attitude control module 220, configured to control a flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
Further, the ornithopter control device 200 further includes: a flight attitude adjustment module, wherein:
and the flight attitude adjusting module is used for adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power.
Further, the flight attitude adjustment module includes: a first flight attitude adjustment submodule and a second flight attitude adjustment submodule, wherein:
and the first flight attitude adjusting submodule is used for adjusting the flight attitude of the fixed-wing aircraft in a specific ascending flow field and keeping the fixed-wing aircraft to horizontally fly in a circling manner in the specific ascending flow field.
And the second flight attitude adjusting submodule is used for adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field on the basis of the horizontal hovering flight of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft does not fly in the specific ascending flow field in an unpowered manner.
Further, the first attitude adjustment submodule includes: a horizontal hover flight adjustment unit, wherein:
a horizontal hover flight adjustment unit for reducing an output power of a propulsion motor of the fixed-wing aircraft and changing a sideslip angle of the fixed-wing aircraft and a roll angle of the fixed-wing aircraft by a flight control system of the fixed-wing aircraft to maintain the fixed-wing aircraft in horizontal hover flight when an updraft velocity of the specific updraft field satisfies a preset updraft velocity.
Further, the second flight attitude adjustment submodule includes: a first uniform upward hovering flight adjusting unit and a second uniform upward hovering flight adjusting unit, wherein:
and the first uniform-speed upward hovering flight adjusting unit is used for acquiring the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft when the output power of a propelling motor of the fixed-wing aircraft is zero.
And the second uniform upward spiral flight adjusting unit is used for changing the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft when the attack angle of the fixed-wing aircraft meets a preset attack angle until the fixed-wing aircraft flies upward in a spiral manner at a uniform speed.
Further, the flight attitude control module 220 includes: the stress relation obtaining submodule and the first flight attitude control submodule, wherein:
and the stress relation acquisition submodule is used for acquiring the stress relation of the flapping wing aircraft based on the stress relation of the fixed wing aircraft.
And the first flight attitude control submodule is used for controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the stress relation of the flapping wing aircraft.
Further, the first attitude control sub-module includes: flight angle acquisition unit and second flight attitude control unit, wherein:
and the flight angle acquisition unit is used for acquiring the flight angle of the flapping wing air vehicle based on the stress relation of the flapping wing air vehicle.
And the second flight attitude control unit is used for controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the flight angle of the flapping wing aircraft.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
Referring to fig. 8, a block diagram of an electronic device 100 according to an embodiment of the present disclosure is shown. The electronic device 100 may be a smart phone, a tablet computer, an electronic book, or other electronic devices capable of running an application. The electronic device 100 in the present application may include one or more of the following components: a processor 110, a memory 120, and one or more applications, wherein the one or more applications may be stored in the memory 120 and configured to be executed by the one or more processors 110, the one or more programs configured to perform a method as described in the aforementioned method embodiments.
The Memory 120 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 120 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 120 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The storage data area may also store data created by the terminal 100 in use, such as a phonebook, audio-video data, chat log data, and the like.
Referring to fig. 9, a block diagram of a computer-readable storage medium according to an embodiment of the present application is shown. The computer-readable storage medium 300 has stored therein program code that can be called by a processor to execute the method described in the above-described method embodiments.
The computer-readable storage medium 300 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 300 includes a non-volatile computer-readable storage medium. The computer readable storage medium 300 has storage space for program code 310 for performing any of the method steps of the method described above. The program code can be read from and written to one or more computer program products. The program code 310 may be compressed, for example, in a suitable form.
In summary, the flapping wing aircraft control method, device, electronic device, and storage medium provided in the embodiments of the present application acquire attitude model data of a fixed wing aircraft during unpowered flight in a specific ascent flow field, feed the attitude model data back to the flapping wing aircraft in the specific ascent flow field, and control the flight attitude of the flapping wing aircraft in the specific ascent flow field based on the attitude model data, so that the aerodynamic energy consumption of the flapping wing aircraft can be reduced, and is not limited by the specific ascent flow field.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (6)
1. A method of controlling an ornithopter, the method comprising:
acquiring attitude model data of a fixed wing aircraft in unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel;
before obtaining attitude model data of the fixed-wing aircraft in unpowered flight in a specific ascent flow field, the method further includes:
adjusting the flight attitude of the fixed-wing aircraft in a specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power;
the adjusting of the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power includes:
adjusting the flight attitude of the fixed-wing aircraft in a specific ascending flow field, and keeping the fixed-wing aircraft to horizontally fly in a circling manner in the specific ascending flow field;
on the basis that the fixed-wing aircraft horizontally hovers in a specific ascending flow field, adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft does not fly in the specific ascending flow field;
the adjusting of the flight attitude of the fixed-wing aircraft in the specific ascending flow field and the maintaining of the horizontal hovering flight of the fixed-wing aircraft in the specific ascending flow field includes:
when the updraft velocity of the specific updraft field meets a preset updraft velocity, reducing the output power of a propulsion motor of the fixed-wing aircraft, and changing the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft through a flight control system of the fixed-wing aircraft to keep the fixed-wing aircraft in horizontal hovering flight;
on the basis that the fixed-wing aircraft horizontally hovers in a specific ascending flow field, the method for adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft does not fly in the specific ascending flow field comprises the following steps:
when the output power of a propulsion motor of the fixed-wing aircraft is zero, acquiring the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft;
when the attack angle of the fixed-wing aircraft meets a preset attack angle, changing the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft until the fixed-wing aircraft flies upwards in a hovering manner at a constant speed;
and controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
2. The method of claim 1, wherein the attitude model data comprises a force relationship of the fixed-wing aircraft, and wherein controlling the attitude of the flapping-wing aircraft in the particular updraft field based on the attitude model data comprises:
obtaining the stress relation of the flapping wing aircraft based on the stress relation of the fixed wing aircraft;
and controlling the flight attitude of the flapping wing air vehicle in the specific ascending flow field based on the stress relation of the flapping wing air vehicle.
3. The method of claim 2, wherein the controlling the attitude of the ornithopter in the particular updraft field based on the force relationship of the ornithopter comprises:
obtaining the flight angle of the flapping wing air vehicle based on the stress relation of the flapping wing air vehicle;
and controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the flight angle of the flapping wing aircraft.
4. An ornithopter control device, said device comprising:
the attitude model data acquisition module is used for acquiring attitude model data of the fixed wing aircraft in unpowered flight in a specific ascending flow field, wherein the specific ascending flow field is provided through a wind tunnel;
before obtaining attitude model data of the fixed-wing aircraft during unpowered flight in a specific ascending flow field, the method further comprises the following steps:
adjusting the flight attitude of the fixed-wing aircraft in a specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power;
the adjusting of the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft flies in the specific ascending flow field without power includes:
adjusting the flight attitude of the fixed-wing aircraft in a specific ascending flow field, and keeping the fixed-wing aircraft in horizontal hovering flight in the specific ascending flow field;
on the basis that the fixed-wing aircraft horizontally hovers in a specific ascending flow field, adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft does not fly in the specific ascending flow field;
the adjusting of the flight attitude of the fixed-wing aircraft in the specific ascending flow field and the maintaining of the horizontal hovering flight of the fixed-wing aircraft in the specific ascending flow field includes:
when the updraft velocity of the specific updraft field meets a preset updraft velocity, reducing the output power of a propulsion motor of the fixed-wing aircraft, and changing the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft through a flight control system of the fixed-wing aircraft to keep the fixed-wing aircraft in horizontal hovering flight;
on the basis that the fixed-wing aircraft horizontally hovers in a specific ascending flow field, the method for adjusting the flight attitude of the fixed-wing aircraft in the specific ascending flow field until the fixed-wing aircraft does not fly in the specific ascending flow field comprises the following steps:
when the output power of a propulsion motor of the fixed-wing aircraft is zero, acquiring a sideslip angle of the fixed-wing aircraft and a roll angle of the fixed-wing aircraft;
when the attack angle of the fixed-wing aircraft meets a preset attack angle, changing the sideslip angle of the fixed-wing aircraft and the roll angle of the fixed-wing aircraft until the fixed-wing aircraft flies upwards in a circling manner at a constant speed;
and the flight attitude control module is used for controlling the flight attitude of the flapping wing aircraft in the specific ascending flow field based on the attitude model data.
5. An electronic device comprising a memory and a processor, the memory coupled to the processor, the memory storing instructions that, when executed by the processor, the processor performs the method of any of claims 1-3.
6. A computer-readable storage medium, characterized in that a program code is stored in the computer-readable storage medium, which program code can be called by a processor to execute the method according to any of claims 1-3.
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| CN106017847A (en) * | 2016-05-11 | 2016-10-12 | 上海工程技术大学 | Observation system and method for aerodynamic force test and flapping wing flow field of flapping-wing micro air vehicle |
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| CN101665155A (en) * | 2008-09-01 | 2010-03-10 | 顾惠群 | Ornithopter with combined flapping wings for performing flight control |
| CN106707749B (en) * | 2016-12-14 | 2019-05-17 | 北京科技大学 | A kind of control method for bionic flapping-wing flying robot |
| CN108528710B (en) * | 2018-04-03 | 2021-06-15 | 中国空气动力研究与发展中心计算空气动力研究所 | Aerodynamic layout of flapping wing matrix aircraft |
| CN111268170B (en) * | 2020-03-09 | 2020-10-13 | 北京科技大学 | Flight test system for flapping wing flying robot |
| CN113295376A (en) * | 2021-05-25 | 2021-08-24 | 南京航空航天大学 | Small wind tunnel experiment system for research of miniature flapping wing aircraft |
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