微型扑翼飞行器的横向控制与设计  

Design and Lateral Control of Flapping-wing Micro Aerial Vehicle

作　　者：董维中 崔龙[1] 王志东[1,2] 

机构地区：[1]中国科学院大学中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]日本千叶工业大学先进机器人系

出　　处：《自动化与仪表》2018年第2期1-5,19,共6页Automation & Instrumentation

基　　金：国防基础科研计划(B1320133018)

摘　　要：针于近年来先进飞行器的研究重点,研制了具有X型翼的微型扑翼飞行器;给出了扑翼飞行器的准稳态气动力计算公式;建立了飞行器横向数学模型;根据小扰动原理,对模型进行了线性化处理;引入了准定常气动力的扩展观测器;采用动态面控制方法,设计了横侧向控制器。实验仿真证明,基于扩展观测器的横向稳定控制器能够抑制横向干扰,可在有限时间内将飞行器稳定在平衡点附近。Flapping-wing micro aerial vehicle（MAV） is one of the focuses of advanced aircraft research in recent year. A flapping-wing MAV wing X-shaped wing is developed. Calculation formula of quasi steady aerodynamics force of flapping-wing aircraft is given. The lateral mathematical model of aircraft is established. According to the small perturbation principle,the model by linearized. Extended observer introduced a quasi-steady gas power,the dynamic surface control method,the lateral controller design. The simulation results show that the lateral stability controller based on the extended observer can suppress the lateral disturbance and stabilize the aircraft in the vicinity of the equilibrium point in finite time.

关 键 词：微型扑翼飞行器 super-twisting算法 动态面控制 横向 

分 类 号：V276[航空宇航科学与技术—飞行器设计] V279.2