JP2008001269A - Control device and method for drive mechanism of flapping wing - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To cancel inertial force applied to flapping wings even when an operating state is changed. <P>SOLUTION: In this drive mechanism 1, support shafts provided in base end sides of the flapping wings arranged in right and left sides of a body of a small flight device are rotatably supported in the both right and left side positions of the body, and gears mounted to the respective support shafts are engaged with each other. A drive gear mounted to a motor 6 for wing drive is engaged with one of the gears, and flapping operation of the right and left flapping wings can be performed by the motor 6 for wing drive. Frequency of voltage input to the motor 6 for wing drive is controlled such that a phase of a rotating angle θ<SB>1</SB>of the gear corresponding to a flapping angle of the flapping wings is advanced at -90° with respect to voltage e<SB>m</SB>input to the motor 6 for wing drive. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention provides a control method for a flapping wing drive mechanism used to absorb fluctuations in inertial force acting on the flapping wing when the flapping wing of the flapping type small flying apparatus is fluttered by the driving mechanism. It relates to the device.

  In recent years, check the site conditions in places where it is difficult for people to easily approach, such as indoor and outdoor high places and disaster occurrence sites, or where contamination with chemical substances, microorganisms, radioactive substances, etc. is assumed In some cases, it is possible to detect the presence of chemical substances, microorganisms, radioactive substances, etc. in cameras, microphones, and atmospheric gases in very small flying devices (Micro Air Vehicle: MAV) whose size is several tens of centimeters or less. Equipped with the required analysis equipment and other equipment to carry out the flight to the target position, and based on the on-site measurement results detected by the equipment mounted on the small flight equipment, It has been considered that the information on the target position can be collected from the ground.

By the way, when the interaction between the flying object and the surrounding fluid is organized by the Reynolds number, which is the ratio of the inertial force and the viscous force of the fluid, As the Reynolds number of the aircraft is on the order of 10 ⁷ to 10 ⁸ , the Reynolds number is high and the inertial force is dominant. The value is as low as about 10 ⁴ to 10 ⁵ , and in the interaction with the surrounding gas (fluid), the influence of the viscous force as well as the inertia force becomes large. Further, since the small flying device is small in size and light in weight, it is easily affected by air currents and is always in a state of flying in a gust of wind. Furthermore, in order to fly indoors and in the airflow outdoors, very high flight performances such as vertical takeoff and landing, sudden turning, and air stop flight (hovering) are required, so aircraft and helicopters Therefore, a very different design from that of the conventional aircraft is required.

  Therefore, in order to allow the above-mentioned small flying device to perform vertical take-off and landing, sudden turn, flying in the air, etc., a small flying device of a type of flapping flight has been considered as one of the flying means.

  As a small-sized flying device of this type of flapping flight, the present inventor has independently provided flapping wings at a plurality of positions in the left and right positions of the fuselage, for example, at a plurality of positions in the front left and right positions and the left and right positions of the rear. Flapping provided with a configuration in which an actuator such as a wing drive motor or a linear actuator is provided individually so that the angle can be adjusted in the vertical direction and the flapping wing is operated while flapping while maintaining the above-mentioned flapping wing in a required angle posture. A small type of flying device is proposed.

  According to this type of flapping type small flying device, each of the flapping wings is independently adjusted in the vertical angle posture, that is, the angle of attack, and each flapping wing by each of the actuators is adjusted at a predetermined frequency. By controlling the amplitude at the time of flapping operation, the lift obtained by the flapping operation of each flapping wing and the magnitude of the propulsive force are adjusted respectively, and the magnitude of the lift acting on the fuselage from each flapping wing. In addition, by individually controlling the magnitude and direction of the propulsive force, it is possible to maintain a horizontal posture even in an air current, and to achieve advanced flight performance such as vertical take-off and landing and aerial stop flight (for example, Patent Documents) 1).

  In addition, in the previous application (Japanese Patent Application No. 2004-333507), the present inventor provided separate blade driving motors and actuators for flapping the flapping wings at the left and right positions of the fuselage, and the outputs of the respective actuators. A pair of left and right flapping wings are individually attached to the shaft so that the flapping operation of the left and right flapping wings can be independently controlled by the actuators, and the fuselage is moved to the required position of the fuselage as the weight moves. There has also been proposed a flapping type small flying device having a configuration in which a center-of-gravity moving device is provided so that the posture of the fuselage can be controlled by displacing the position of the center of gravity.

  According to this type of flapping type small flying device, the center of gravity of the aircraft is displaced in the front-rear direction of the fuselage by the center-of-gravity movement device, so that the left and right flapping wings can be received together with the front-rear angle posture of the fuselage. The corner can be changed. From this, the direction of the force generated by each flapping wing by performing the control of the angle of attack of each flapping wing along with the longitudinal angle posture of the fuselage and the equal fluttering operation of each flapping wing. And the size can be changed, and the size of lift and propulsive force applied to the fuselage from each flapping wing can be adjusted individually, and the speed during forward flight can be freely changed from low speed to high speed, and rising and falling Can be performed freely. Further, when the flapping action of the left and right flapping wings is made different between the left and right, and the magnitude of the propulsive force acting from the flapping wings to the left and right positions of the fuselage is changed, the lift force acting on the left and right positions of the fuselage is changed. When there is a difference in size, the weight balance between the left and right sides of the fuselage is changed by the center of gravity moving device so as to cancel the difference in lift, so that the left and right sides of the fuselage are kept in a horizontal state and are turned left and right. I can do it. Therefore, advanced flight performance can be achieved by freely changing the flight speed and the flight altitude, or by freely making a turn flight in the left-right direction.

  By the way, in each type of flapping type small flight device described above, it may be required to be able to mount a payload corresponding to the purpose of use sufficiently or to be able to fly over a long distance for a long time. In some cases, it is necessary to make each wing flutter at a high frequency such as several tens Hz to several hundred Hz. Thus, in the case where each wing is caused to flutter at a high frequency, it is important how to handle the fluctuation of the inertial force generated during the flapping operation of each wing.

  Therefore, in each of the above-described types of flapping type small flying devices, an actuator that flutters each flapping wing can be operated by applying a restoring force to the corresponding flapping wing. As a movable part of the actuator, a flapping wing operated by flapping by the actuator, an inertial force of air that moves together with the flapping operation of the flapping wing, and a restoring force that acts on the flapping wing from the actuator The inertial force can be canceled by operating the flapping wing of the flapping blade with the actuator so that the frequency is equal to the resonance frequency of the vibration system formed by the above.

  Specifically, when a blade driving motor is used as the actuator, the blade driving motor is restored to the output shaft by interposing an elastic member having a required elastic coefficient between the output shaft and the fixed side. The output shaft is configured so as to be able to drive forward and reverse while applying torque. Therefore, when the flapping wing attached to the output shaft is operated by each wing driving motor, a restoring torque as a restoring force is applied by the elastic member. As a result, the rotating movable part of the blade driving motor, the flapping wing, the inertial force of the air that moves together with the flapping operation of the flapping wing, and the elastic member are applied to the output shaft of the wing driving motor. When a variable external force is applied to the vibration system created by a certain restoring torque by alternating forward and reverse drive of the output shaft of the blade drive motor, the frequency of the variable external force is equal to the resonance frequency of the vibration system. Thus, by adjusting the frequency of alternating forward and reverse driving of the output shaft of the blade driving motor, the inertia force can be canceled and the load of the blade driving motor can be reduced.

  When a linear actuator is used as the actuator, the linear actuator is placed on the output shaft while applying a restoring force to the output shaft by interposing an elastic member having a required elastic coefficient between the output shaft and the fixed side. A resonance type configuration that can vibrate in the axial direction is employed. Therefore, when flapping the flapping wing attached to the output shaft with each linear actuator, the restoring force is applied by the elastic member, so that the moving part, flapping wing, and flapping operation of the flapping wing of the linear actuator are accompanied. Fluctuating external force is applied by the vibration of the output shaft of the linear actuator to the vibration system created by the inertial force of the air that moves together and the restoring force that is applied to the output shaft of the linear actuator by the elastic member. Sometimes, by adjusting the frequency to vibrate the output shaft of the linear actuator so that the frequency of the varying external force becomes equal to the resonance frequency of the vibration system, the inertial force is canceled and the load on the linear actuator is reduced. You can do that.

JP 2006-088769 A

  However, in the above-described flapping type small flying devices, the frequency when the flapping wing is fluttered by an actuator such as a wing driving motor or a linear actuator is equal to the resonance frequency, The inertial force acting on the flapping wing reciprocated by the actuator is canceled. However, actually, when the speed of the reciprocating motion of the flapping wing is changed according to the change in the flight state, the aerodynamic force acting on the flapping wing changes, and the load mass and the damping coefficient change. For this reason, even if the elastic coefficient of the elastic member for applying a restoring force to the actuator such as the blade driving motor and the linear actuator is constant, the movable part of the actuator and the flapping that is operated by the actuator. The resonance frequency of the vibration system formed by the inertial force of the air that moves together with the flapping operation of the wing and the flapping wing and the restoring force that acts on the flapping wing from the actuator changes.

  Therefore, as described above, the present invention changes the reciprocating speed of the flapping wing, changes the additional mass and the damping coefficient associated with the change of aerodynamic force acting on the flapping wing, and changes the resonance frequency of the vibration system. The control method and apparatus for the flapping wing drive mechanism that can optimally change the frequency when the flapping wing is reciprocated by the actuator following the change in the resonance frequency even if the frequency fluctuates. is there.

  In order to solve the above-mentioned problem, the present invention, corresponding to the first aspect of the present invention, connects the base end sides of the flapping wings arranged on the left and right sides of the fuselage of the small flying device to the output shaft of the actuator. In response to the voltage input to the actuator in the flapping wing drive mechanism, the flapping wing can be operated by reciprocating driving in the rotational direction or linear direction of the output shaft of the actuator while applying a restoring force. Thus, the flapping wing drive mechanism control method controls the frequency of the voltage input to the actuator so that the flapping angle phase of the flapping wing advances by -90 degrees.

  In the above, the frequency of the voltage input to the actuator is controlled by processing the value of the product of the voltage input to the actuator and the flapping angle of the flapping wing with a required low-pass filter, and further voltage control. The oscillator oscillates at a frequency corresponding to a required voltage so that the value obtained after processing by the low pass filter becomes zero, and is oscillated from the amplifier to the actuator by the voltage controlled oscillator. It is made to perform by supplying electric power so that it may become the voltage of the frequency according to the frequency.

  Further, in response to the invention according to claim 3, the base end sides of the flapping wings disposed on the left and right sides of the fuselage of the small flying device are connected to the output shaft of the actuator, and the restoring force is applied while the actuator is operated. The product of the voltage input to the actuator in the flapping wing drive mechanism that is capable of flapping the flapping wing by the reciprocating drive in the rotational direction or linear direction of the output shaft and the flapping angle of the flapping wing. A multiplier for calculation, a required low-pass filter for processing the calculated value of the multiplier, and oscillation of a frequency corresponding to a required voltage so that a value obtained after processing by the low-pass filter becomes zero A voltage-controlled oscillator for supplying power to the actuator with a voltage having a frequency corresponding to the frequency oscillated from the voltage-controlled oscillator. Ukoto the control device of the flapping wings of the drive mechanism includes an amplifier that is to allow.

According to the present invention, the following excellent effects are exhibited.
(1) The base end side of the flapping wing arranged on the left and right sides of the fuselage of the small flying device is connected to the output shaft of the actuator, and the reciprocating force is applied to the output shaft of the actuator while reciprocating. The phase of the flapping angle of the flapping wing is advanced by -90 degrees with respect to the voltage input to the actuator in the driving mechanism of the flapping wing, which is configured so that the flapping wing can be operated by flapping. The flapping wing drive mechanism control method controls the frequency of the voltage input to the actuator, so when flapping the flapping wing to fly the small flying device, The load mass of aerodynamic force acting on each flapping wing and When the damping coefficient changes, the frequency of the input voltage to the actuator and the flapping operation frequency of each flapping wing are the moving parts of the actuator, the flapping wings that are fluttered and the flapping operations of the flapping wings. Even if there is a deviation from the resonance frequency of the vibration system formed by the inertial force of the air that moves together and the restoring force acting on the flapping wing, the frequency of the input voltage of the actuator, It is possible to eliminate the deviation from the resonance frequency by automatically changing the flapping operation frequency of the flapping wing. Therefore, even if the operating state of the small flying device is changed, the flapping wing can be fluttered at a frequency that matches the resonance frequency, and the inertial force acting on the flapping wing can be canceled. Become.
(2) Control of the frequency of the voltage input to the actuator, the product value of the voltage input to the actuator and the flapping angle of the flapping wing is processed by a required low-pass filter, and further, the voltage controlled oscillator Oscillates at a frequency corresponding to a required voltage so that the value obtained after processing by the low-pass filter becomes zero, from the amplifier to the actuator, to the frequency oscillated from the voltage-controlled oscillator A control method for performing power supply so as to obtain a voltage of a corresponding frequency, a voltage to be input to the actuator in the driving mechanism of the flapping wing similar to the above, and a flapping angle of the flapping wing A multiplier for calculating the product of the above, a required low-pass filter for processing the calculated value of the multiplier, and the low-pass filter The voltage controlled oscillator for causing the frequency to be oscillated according to the required voltage so that the value obtained after processing is zero, and the actuator to the voltage having the frequency according to the frequency oscillated from the voltage controlled oscillator. By adopting a control device for a flapping wing drive mechanism having a configuration that includes an amplifier that can supply power, the control method of (1) can be realized.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIGS. 1 to 5 (a), (b), (c), (d), (e), (f), and (g) show one embodiment of a method and apparatus for controlling a flapping wing drive mechanism according to the present invention. FIG. 1 is a block diagram, and FIG. 2 shows a driving mechanism 1 of a flapping wing 2 of a flapping type small flying apparatus to which the present invention is applied.

  The drive mechanism 1 shown in FIG. 2 is provided at a required position in the front-rear direction of the body 3. That is, openings are provided on both left and right sides of the required position in the front-rear direction of the body 3, and the base end sides (inner end sides) of the pair of left and right flapping wings 2 are positioned in the body 3 through the openings. A support shaft 4 is fixedly attached to a base end portion of each flapping wing 2 in a perpendicular direction, and each support shaft 4 is rotatably inserted into a fixing portion (not shown) in the body 3. Further, it is supported so as to be rotatable by a bearing (not shown). Further, gears 5 of the same diameter are attached to both the support shafts 4 so that they can rotate as a unit. The gears 5 mesh with each other as shown in FIG. The gear 5 can also be rotated simultaneously. Further, a blade driving motor 6 as an actuator is installed in the fixed portion in the body portion 3, and a small-diameter driving gear 7 attached to the output shaft 6 a of the blade driving motor 6 is connected to the two gears 5. Either one is engaged as shown in the figure. As a result, the blade driving motor 6 is driven to transmit power to one gear 5 via the drive gear 7, so that the two gears 5 are simultaneously rotated in opposite directions, and the flapping blade 2 is rotated via the support shaft 4. At the same time, it can be operated by flapping by turning up and down. Further, a spring or the like is not shown between the support shaft 4 of the left and right flapping wings 2 and the fixed portion in the trunk portion 3 or between the output shaft and the fixed portion in the trunk portion 3 of the blade driving motor 6. An elastic member is provided so that the elastic force of the elastic member can act as a restoring force for pulling the left and right flapping wings 2 back to the neutral position in the center of the amplitude.

  Here, first, the operation of the blade driving motor 6 will be considered as a separately excited DC motor including a field coil 9 outside an electric element (rotor) 8 as shown in FIG. Secondary effects will be ignored.

Rotational torque of the blade driving motor 6 when the current _{i m} (generated torque), when the magnetic flux and [Phi _m, as constant _k'm, a _{k'm Φ m} i _m. Further, the counter electromotive force when the rotational speed _{n m} is the _{k m} as a constant, a _{k m Φ m} n _m.

The terminal voltage of the armature 8 in the motor 6, i.e., the input voltage e _m, the internal resistance r _m, the rotational inertia J _m of the motor _6, when the load torque and q _m, the following equation is obtained.

又、電気的関係は、

である。なお、上記（Ａ２）式には、コイルを流れる電流が変動することによる自己誘導電圧が含まれるべきであると思われるが、ここでは省略している。 That is, the mechanical relationship is

The electrical relationship is

It is. In addition, although it seems that the said (A2) type should contain the self-induction voltage by the fluctuation | variation of the electric current which flows through a coil, it is abbreviate | omitting here.

となり、これを上記（Ａ１）式に代入すると、

が得られる。 Solving for the current _{i m} to the formula (A2),

And substituting this into the above equation (A1),

Is obtained.

  Next, the deceleration generated between the drive gear 7 attached to the blade driving motor 6 and the gear 5 attached to the support shaft 4 of the one flapping blade 2 will be considered.

で与えられる。 FIG. 4 shows an extracted dynamic system of the drive gear 7 attached to the output shaft of the blade driving motor 6 and the gear 5 attached to the support shaft 4 of the one flapping blade 2. the diameter of the driving gear 7 and d _m, the diameter of the gear 5 of the one flapping wing 2 side above the d _1. When the torque transmitted from the driving gear 7 to the motor 6 (load torque) and _{q m,} the gear 5 from the driving gear 7 of the diameter _{d 1} of the diameter _{d m is, (d1 / d m) ·} q _m torque is transmitted. Therefore, under this condition, the rotational speed (number of rotations) of the motor 6 is set to _nm (rps), and torque transmitted from the one flapping blade 2 side to the gear 5 through the support shaft 4 When the (load torque) and q _1, the rotational inertia of the gear 5 and J _1, the rotation amount of the gear 5 (the rotation angle) and theta _1, the equation of motion of the gear 5,

Given in.

であるので、上記（Ｂ１）式を負荷トルクｑ_ｍについて解いて（Ｂ２）式に代入すると、

となる。この式に、上記モータ６の回転数ｎ_ｍと、上記ギア５の回転角度θ_１との関係式である

を代入すると、

となる。 Regarding the blade driving motor 6, as described in the equation (A1), the mechanical relationship is

Therefore, when the above equation (B1) is solved for the load torque q _m and substituted into the equation (B2),

It becomes. This equation is the relationship between the rotational speed n _m of the motor 6, the rotation angle theta ₁ of the gear 5

Substituting

It becomes.

を電流ｉ_ｍについて解くと、

であるので、これを上記（Ｂ５）式に代入すると、

となる。 On the other hand, as described in the equations (A2) and (A3), the electrical relationship of the blade driving motor 6 is as follows.

Solving for the current _{i m} a,

Therefore, if this is substituted into the above equation (B5),

It becomes.

として与えられる。 Next, the derivation of the present invention will be described based on the above. Equation of motion of the wing driving motor 6 at a flapping type small flying device though such a structure shown in FIG. 2, the rotation speed n _m of the motor _6, the input voltage e _m, the load torque q _m, the rotational inertia J _m, the magnetic flux [Phi _m, the internal resistance and _{r m,} the constant associated with the counter electromotive force _{k m,} the constants associated with the generated torque and _k'm, from the above-mentioned (A4) formula

As given.

となる。 The rotation of the blade driving motor 6 is decelerated and transmitted from the drive gear 7 attached to the output shaft 6a to the gear 5 attached to the support shaft 4 of one flapping blade 2 (left side in the figure). It is like that. The rotational inertia of the gear 5 is J ₁ , the load torque per flapping blade 2 is q ₁ , the reduction ratio of the rotation transmitted from the motor 6 between the drive gear 7 and the gear 5 is ρ _G , Further, the gear 5 is engaged with a gear 5 attached to the support shaft 4 of the other flapping wing 2 so that the left and right flapping wings 2 are fluttered by the output of the one blade driving motor 6. Assuming that the above equation (1) is expressed by the above equation (B8)

It becomes.

と記載するようにする。又、上記ギア５の回転角度θ_１と、上記モータ６の回転数ｎ_ｍとの間には、

という関係があるので、（３）式と（４）式を（２）式へ代入すると、

が導かれる。なお、この（５）式では、（Ａ２）式の導出時において述べたように、回転子コイルの自己誘導電圧は無視したものとしてある。又、この運動方程式における左辺第２項をみると、電気的な力が減衰力を与えていることが分かる。又、上記（Ａ３）式と（４）式より、

が求められる。 Here, the distance from the center of the support shaft 4 serving as the center of rotation of the left and right flapping wings 2 to the center of gravity of each flapping wing 2 is l _G , the mass per flapping wing 2 is m ₁ , and each support shaft. The distance from the center of 4 to the point of application of the aerodynamic force acting on each flapping wing 2 is l _F , the additional mass acting by the aerodynamic force is m _F , the damping coefficient is n _F, and each flapping wing 2 is not shown in the figure. Assuming that the restoring force applied by the elastic member is k ₁ , the load torque q ₁ per flapping wing 2 is

To be described. Further, the rotation angle theta ₁ of the gear 5 and between the rotational speed n _m of the motor 6,

Therefore, substituting (3) and (4) into (2),

Is guided. In the equation (5), as described in the derivation of the equation (A2), the self-induced voltage of the rotor coil is ignored. Also, looking at the second term on the left side of this equation of motion, it can be seen that the electrical force gives the damping force. From the above formulas (A3) and (4),

Is required.

を、上記（５）式と（６）式に代入すると、それぞれ、

となるので、電圧ｅ_ｍに対するギア５の回転角度θ_１の応答関数は、

となる。よって、電圧ｅ_ｍに対する電流ｉ_ｍの応答関数は、（９）式と（１０）式より、

と求まる。なお、ここで、上記翼駆動用モータ６における回転子コイルの自己誘導電圧を含める場合には、インダクタンスをＬ_ｍとすると、上記モータの内部抵抗ｒ_ｍを、ｒ_ｍ＋ｊ２πｆＬ_ｍとすればよいと考えられる。したがって、上記モータ６の回転子コイルの自己誘導電圧を含めることは、慣性を大にする作用が予想される。 Therefore,

Is substituted into the above equations (5) and (6),

Since the response function of the rotation angle theta ₁ of the gear 5 with respect to the voltage e _m is

It becomes. Therefore, the response function of the current _{i m} for voltage _{e m,} from (9) and (10),

It is obtained. Here, when including the self-induced voltage of the rotor coil in the blade driving motor 6, assuming that the inductance is L _m , the internal resistance r _{m of the} motor may be r _m + j2πfL _m. Conceivable. Therefore, including the self-induced voltage of the rotor coil of the motor 6 is expected to increase the inertia.

であるので、これより平均Ｍｅａｎ［ｅ_ｍｉ_ｍ］、周波数Ｆｒｅｑ［ｅ_ｍｉ_ｍ］、偏角Ａｒｇ［ｅ_ｍｉ_ｍ］は、

と求まる。 Next, the power supplied to the blade driving motor 6 is:

Since it is, than this average Mean _{[e m i m],} the frequency Freq _{[e m i m],} argument Arg _{[e m i} m] is

It is obtained.

である。したがって、制御目標となる共振周波数ｆ_０は、

と求まる。 When the resonance frequency f ₀ is a frequency that maximizes the magnitude of the response function H _θ1em (f) shown in the above equation (10), the absolute value of the denominator in the equation (10) is minimized.

It is. Therefore, the resonance frequency f _{0 as} the control target is

It is obtained.

The blade driving motor 6 shown in FIG. 3 will be described with a specific example. The starting current when the inter-terminal resistance (internal resistance) is 17.0Ω and the applied voltage is 12.0 V is 12.0 V / 17. It is assumed that 0Ω = 0.006A and the starting torque at that time is 0.00434 Nm. As a result, k ′ _m Φ _m becomes
k ′ _m Φ _m = 0.00434 / 0.706 = 0.00615 Nms / A
It becomes. On the other hand, it is assumed that the no-load current is 0.012 A when the no-load rotation speed is 18000 rpm and the applied voltage is 12V. Thus, k _m Φ _m is
_{k m Φ m = (12-0.012 ×} 17) / (18000/60) = 0.0393Vs
It becomes.

  Further, various parameters in the flapping type small flight apparatus shown in FIG. 2 are set as follows.

Distance from the center of the support shaft 4 to the center of gravity of the flapping wing 2: l _G = 0.05 m
Mass per flapping wing 2: m ₁ = 0.0025 kg
Distance from the center of the support shaft 4 to the point of application of aerodynamic force acting on the flapping wing 2: l _F = 0.075 m
Load mass due to aerodynamic force: m _F = 0.02 kg
Damping coefficient by the aerodynamic force: n _F = 0.01 kg / s
Restoring force acting on flapping wing 2: k ₁ = 1.0 Nm / rad
Rotational inertia of blade driving motor 6: J _m = 0.000001 kgm ²
Reduction ratio between drive gear 7 and gear 5: ρ _G = 0.0625
The rotational inertia J ₁ of the gear 5 is assumed to be negligible, and J ₁ = 0.

If these parameters are used to determine the resonance frequency f ₀ by the above equation (15), it is 10.131 Hz. Therefore, the period T ₀ is 0.0987 s.

The results of calculating the equations (10), (11), and (13) are shown in FIGS. 5 (a), (b), (c), (d), (e), (f), and (g). In the resonance frequency, as shown in FIG. 5 (b), the response function of the rotation angle of the gear 5 with respect to the voltage e _m: the absolute value of _H θ1em _(f) is the maximum increased dramatically. On the other hand, FIG. 5 (c) to the response function of the current _{i m} for such voltage _{e m shown:} the absolute value of _{H IMEM} (f), the average of such normalized power shown in FIG. 5 (e): mean _{[e m ^{i m] / | E m 2}} |, Figure 5 of the power which is such standardized shown in (f) _{amplitude: Amp [e m i m]} / | E m 2 | are both greatly reduced.

Further, before and after the resonance frequency, the phase of the response function H _θ1em (f) changes from 0 to −180 degrees as shown in FIG. 5B, and the response function H as shown in FIG. phase of _IMEM (f), and, the power as shown in FIG. 5 (g) _phase: phase of e m _{i m} are both changed to -45～45 degrees.

Further, from FIG. 5 (b), the flapping angle of flapping wing 2, that is, the rotation angle of gear 5: θ ₁ (t) and the phase difference between voltage e _m (t) represent the resonance frequency (tuning point). When the angle is changed from 0 to −180 degrees, the phase difference between the two at the tuning point is −90 degrees. Accordingly, the present invention is to be used for tuning maintain control the relationship between the rotational angle of the gear theta _{1 (t)} and the voltage e _{m (t).}

Strictly speaking, in the above equation (5), dθ ₁ (t) / dt and e _m (in the state where the inertial force term of the first term on the left side and the restoring force term of the third term on the left side are canceled. Since t) is the same phase, that is, the phase difference is −90 degrees, it is not a tuning point in a strict sense.

と書くことにすると、振幅Ｅ_ｍとΘ_ｍ及び位相差φは次のようにして求めることができる。すなわち、ｅ_ｍ ^２（ｔ）、θ_１ ^２（ｔ）、ｅ_ｍ（ｔ）θ_１（ｔ）は、それぞれ、

となるので、ローパスフィルタ（以下、ＬＰＦと記す）を通して、上記（１８）式における右辺第２行の第２項を消すと、振幅Ｅ_ｍとΘ_ｍ及び位相差φを求めることが可能となる。 Therefore, the voltage e _m (t) and the rotation angle of the gear 5 that coincides with the flapping angle of the flapping wing 2: θ ₁ (t)

In this case, the amplitudes E _m and Θ _m and the phase difference φ can be obtained as follows. That is, e _m ² (t), θ ₁ ² (t), and e _m (t) θ ₁ (t) are respectively

Since the low-pass filter (hereinafter, referred to as LPF) through and clear the second term of the second row the right side in the above (18), it is possible to determine the amplitude E _m and theta _m and the phase difference φ .

Therefore, in the present invention, as shown in the block diagram of FIG. 1, each of the flapping wings input from a detection unit (not shown) provided in the driving mechanism 1 of each flapping wing 2 in the flapping type small flying apparatus as shown in FIG. and the rotation angle theta ₁ of the gear 5 that matches the second flapping angle, the multiplier 11 for obtaining the product of the voltage e _m to the input from the amplifier 10 to be described later to the blade drive motor 6 for driving the respective flapping wing 2, LPF 12 An adder 13, a voltage controlled oscillator (VCO) 14 that oscillates a frequency proportional to the voltage, and the amplifier 10 are provided upstream of the blade driving motor 6 to drive the flapping blade 2. The control device of the mechanism 1 is configured. Furthermore, when controlling the drive mechanism 1 of the flapping wing 2 using such a control device, when the flapping wing 2 is reciprocated by the output of the wing driving motor 6, the flapping angle of each flapping wing 2 is used. after the rotation angle theta ₁ of the gear 5 to match, and the voltage e _m input from the amplifier 10 to the blade drive motor 6 to calculate the product of both is inputted to the multiplier 11 and, upper Symbol theta ₁ and the product of _{e m} is passed through the LPF 12, turn off the components of the second term of the second row right side of the equation (18). Next, the VCO 14 oscillates at a frequency corresponding to a voltage required to make the component of the first term in the second row on the right side remaining in the equation (18) zero. Then, the power is supplied to the amplifier 10, and then the driving power is supplied from the amplifier 10 to the blade driving motor 6 at a frequency corresponding to the frequency oscillated from the VCO 14. Thereafter, the rotation angle θ ₁ of the gear 5 corresponding to the flapping angle of the flapping wing 2 driven by the blade driving motor 6 driven by this power supply, and the amplifier 10 are input to the wing driving motor 6. a voltage e _m, by prompting again to the multiplier 11 so as to repeat the same control loop as described above, during the repetition of the control loop, at the adder 13, to the output of the previous LPF12 Thus, the outputs of the new LPF 12 after the elapse of one control loop (one time step) are added and output to the VCO 14.

As described above, according to the control method and apparatus of the flapping wing drive mechanism of the present invention, when the flapping wing 2 is fluttered and operated by the flapping type small flying device, each flapping wing is caused by a change in the operating state. 2, the load mass m _F of the aerodynamic force acting on each flapping wing 2 and the damping coefficient n _F change, and the blade driving motor 6 is caused by this change. frequency of the input voltage e _m for driving, and the frequency of the flapping operation each flapping wing 2, the movable part, the flapping wings 2 is caused to flapping operation of the blade drive motor 6 and, respective flapping wings 2 deviates from the resonance frequency of the vibration system formed by the inertial force of the air that moves together with the flapping operation of No. 2 and the restoring force acting on each flapping wing 2 from an elastic member (not shown). Even if, with respect to the phase of the input voltage e _m for driving the blade drive motor 6, the rotation angle theta ₁ of the phase of the gear 5 that matches the flapping angle of the flapping wing 2 is advances -90 ° By controlling in this way, the deviation from the resonance frequency can be eliminated.

  Therefore, when the operation state of the flapping type small flying device is changed, even if there is a deviation between the flapping operation frequency of the flapping wing 2 and the resonance frequency of the vibration system, it will be clear from the result of numerical simulation described later. Further, since the flapping operation frequency of the flapping wing 2 can be automatically changed so as to coincide with the resonance frequency of the vibration system, the inertial force acting on each flapping wing 2 is cancelled. Each flapping wing 2 can be operated to flapping.

In addition, this invention is not limited only to the said embodiment, The thing as described below is also included. For example, in the above-described embodiment, the drive mechanism 2 configured to drive the pair of left and right flapping wings 2 with one wing driving motor 6 has been described. However, the individual wing driving motor 6 for each flapping wing 2 is described. The present invention may be applied to a drive mechanism of a type in which each flapping blade 2 is fluttered by the rotational driving force of an individual blade driving motor 6. In this case, the coefficient of the second term in the left parenthesis in the equation (2), the coefficient of the numerator in the second term in the right parenthesis, and the second term in the parenthesis of the first term on the left side in the equation (5), By setting the coefficients of the third and fourth terms, the coefficient of the second term in the parenthesis of the second term on the left side, and the coefficient of the third term on the left side to 1, each equation can be derived in the same manner as above. because it can, even in this case, the input voltage e _m for driving the blade drive motor 6, the rotation angle theta ₁ of the phase of the gear 5 that matches the flapping angle of the flapping wings 2 -90 By controlling so as to be advanced, the deviation from the resonance frequency can be automatically eliminated.

  Various structural parameters of the above-described flapping type small flying device and various electrical parameters of the wing drive motor 6 are given as specific examples, and are not limited to the numerical values shown.

  The drive mechanism 1 of each flapping wing 2 is shown as a type having a blade driving motor 6 as an actuator, but the output shaft of the linear actuator configured to be able to vibrate the output shaft in the axial direction. As a configuration in which the mounted rack and the pinion attached to the support shaft 4 of each flapping wing 2 are engaged with each other, the flapping wing 2 can be fluttered at a flapping angle corresponding to the amplitude of the output shaft. For example, the present invention can also be applied to a drive mechanism of a flapping wing 2 of a type using a linear actuator.

  Of course, various changes can be made without departing from the scope of the present invention.

  Hereinafter, numerical simulation results performed by the present inventor will be described.

により与えられるものとする。下記の表１と表２に、以下の計算で使用される上記ＬＰＦ１２の２セクション４次のバターワースフィルタとしての設計仕様と、フィルタ係数をそれぞれ示す。

このＬＰＦ１２を２段直列で用いて図６に示した羽ばたき翼の駆動機構の制御方法の数値シミュレーションを行った。スタート時の周波数ｆ（０）を９．９３Ｈｚとした場合の周波数ｆの径時的な変化と、パワーｐ_ｍ（ｔ）の径時的な変化についての結果を図７（イ）と（ロ）にそれぞれ示す。なお、上記パワーｐ_ｍ（ｔ）の変化は、羽ばたき翼２の１回の羽ばたき動作ごとに周期的に生じているものであるため、図７（ロ）では、上記パワーｐ_ｍ（ｔ）の変化を上下の包絡線で示してある。
制御に使ったルールは、

である。ここで、ｔ＋１はネクストタイムステップを示す。その他の羽ばたき型小型飛行装置における構造的な各種パラメータ、及び、翼駆動用モータ６の電気的な各種パラメータは前述したと同様の値とする。
図７（イ）に示す結果より明らかなように、スタート時の周波数が、共振周波数より低くても、周波数ｆは、時間の経過とともに一定の共振周波数（１０．１３Ｈｚ）の値に収束することが判明した。又、図７（ロ）に示す結果より明らかなように、上記周波数ｆの収束に伴って、羽ばたき翼２の駆動に要するパワーの低下が実現されていることが判明した。 (1)
The low-pass filter (LPF) 12 having the same configuration as shown in FIG. 1 is a two-section fourth-order Butterworth filter as shown in the block diagram of FIG.

Shall be given by Tables 1 and 2 below show design specifications and filter coefficients of the LPF 12 as a 2-section 4th-order Butterworth filter used in the following calculations.

A numerical simulation of the control method of the flapping wing drive mechanism shown in FIG. FIG. 7A and FIG. 7B show the results of the time variation of the frequency f and the time variation of the power p _m (t) when the frequency f (0) at the start is 9.93 Hz. ) Respectively. In addition, since the change of the power p _m (t) is periodically generated for each flapping operation of the flapping wing 2, in FIG. 7 (b), the power p _m (t) is changed. The change is shown by the upper and lower envelopes.
The rules used for control are

It is. Here, t + 1 indicates the next time step. Other structural parameters in the flapping type small flight apparatus and various electrical parameters of the wing drive motor 6 are set to the same values as described above.
As is clear from the results shown in FIG. 7 (a), even when the starting frequency is lower than the resonance frequency, the frequency f converges to a constant resonance frequency (10.13 Hz) value as time elapses. There was found. Further, as apparent from the result shown in FIG. 7B, it has been found that the power required for driving the flapping wing 2 is reduced as the frequency f converges.

(2)
A numerical simulation similar to the above was performed for the case where the starting frequency f (0) was 10.33 Hz. FIG. 8 shows the result of the temporal change in the frequency f.
As is clear from the results of FIG. 8, it was found that the frequency f converges to a constant resonance frequency (10.13 Hz) with the passage of time even when the start frequency is higher than the resonance frequency.

  As described above, from the results of (1) and (2), the frequency f can be automatically matched with the resonance frequency even when the start frequency deviates from the resonance frequency. It has been confirmed that the method and apparatus for controlling the drive mechanism work effectively.

It is a block diagram which shows one Embodiment of the control method and apparatus of the drive mechanism of the flapping wing of this invention. It is a front view which shows the outline | summary of the flapping type small flight apparatus which applies the control method of FIG. It is a schematic diagram which shows the motor for wing drive used for the small flight apparatus of FIG. It is the figure which took out and showed the dynamic system of the drive gear attached to the wing drive motor in the small flight apparatus of FIG. 2, and the gear attached to the spindle of the flapping wing. (15) shows the result of the specific numerical calculation of the equation (10), the equation (11), the equation (11), and the equation (13). (A) is the absolute value of the response function of the rotation angle of the gear with respect to the voltage. (B) is the declination of the response function, (c) is the absolute value of the current response function with respect to voltage, (d) is the declination of the response function, (e) is the average of the normalized power, (he ) Is a diagram showing normalized power amplitude, and (G) is a diagram showing the power phase with respect to frequency change. It is a block diagram which shows the low pass filter used by the numerical simulation which this inventor performed. FIG. 5 shows the results of numerical simulation performed to verify the effectiveness of the present invention. (A) shows the change in frequency over time, and (B) shows the power over time for flapping operation of the flapping wing. It is a figure which shows each change. These are figures which show the result of the numerical simulation performed on another condition in order to verify the effectiveness of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive mechanism 2 Flapping wing 3 Fuselage 6 Wing drive motor (actuator)
6a Output shaft 10 Amplifier 11 Multiplier 12 Low pass filter 14 Voltage controlled oscillator

Claims (3)

  The base end side of the flapping wings arranged on both the left and right sides of the fuselage of the small flying device is connected to the output shaft of the actuator, and the above-mentioned operation is performed by the reciprocating drive in the rotational direction or linear direction of the output shaft of the actuator while applying the restoring force. To the actuator, the phase of the flapping angle of the flapping wing is advanced by -90 degrees with respect to the voltage input to the actuator in the flapping wing drive mechanism that is capable of flapping the flapping wing. A method for controlling a driving mechanism of a flapping wing, wherein the frequency of an input voltage is controlled.   Control of the frequency of the voltage input to the actuator is performed by processing the value of the product of the voltage input to the actuator and the flapping angle of the flapping wing with a required low-pass filter. The frequency corresponding to the frequency oscillated from the voltage controlled oscillator is made from the amplifier to the actuator by causing the frequency to be oscillated according to the required voltage so that the value obtained after processing by the filter becomes zero. The method of controlling a flapping wing drive mechanism according to claim 1, wherein power supply is performed so that the voltage becomes the following voltage.   The base end side of the flapping wings arranged on both the left and right sides of the fuselage of the small flying device is connected to the output shaft of the actuator, and the above-mentioned operation is performed by the reciprocating drive in the rotational direction or linear direction of the output shaft of the actuator while applying the restoring force. A multiplier for calculating a product of a voltage input to the actuator in the driving mechanism of the flapping wing that is capable of flapping the flapping wing and a flapping angle of the flapping wing, and a calculated value of the multiplier A required low-pass filter to be processed, a voltage-controlled oscillator for causing oscillation at a frequency corresponding to a required voltage so that a value obtained after processing by the low-pass filter becomes zero, and the voltage to the actuator An amplifier capable of supplying a voltage having a frequency corresponding to a frequency oscillated from a controlled oscillator. Control device for flapping wing drive mechanism, characterized in that it has a configuration in which the.

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