基于PD控制的仿昆虫扑翼样机研制  

Development of insect-like flapping wing micro air vehicle based on PD control

作　　者：刘晶 汪超 谢鹏 周超英 LIU Jing;WANG Chao;XIE Peng;ZHOU Chaoying(School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518055,China;School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523000,China;Sino-German College of Intelligent Manufacturing,Shenzhen Technology University,Shenzhen 518118,China)

机构地区：[1]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055 [2]东莞理工学院机械工程学院,东莞523000 [3]深圳技术大学中德智能制造学院,深圳518118

出　　处：《航空学报》2020年第9期106-117,共12页Acta Aeronautica et Astronautica Sinica

基　　金：深圳市科技计划项目(JCYJ20170307151117299,JCYJ20180306171753070);国家自然科学基金(U1613227);广东省自然科学基金(2018A030310045)。

摘　　要：仿昆虫微型扑翼飞行器(FW-MAN)可以模仿昆虫悬停、垂直起飞以及侧飞等飞行姿态,从而适应复杂多障碍环境,具有广阔的应用前景。成功设计研制了一款重23.8g,翼展18cm,扑动幅值180°,扑动频率可达22Hz的可垂直起飞的仿昆虫微型扑翼飞行器。采用曲柄摇杆与滑轮的组合机构作为样机扑动机构以解决原有样机扑动方案存在高摩擦及结构复杂等问题,样机翅翼设计为具有扭转角度的柔性翅翼从而使样机具有更高的气动效率。考虑到现有的姿态调节机制存在增加机构复杂度问题,基于翅翼扭转的姿态调节机制,设计了相应的控制调节机构,并搭建了样机气动力测量平台和姿态调节平台。气动升力与姿态力矩测量结果表明,样机翅翼可提供足够升力,姿态调节机制具有可行性。在此基础上,选取PD(Proportional Differential)控制律作为样机控制方式,为解决参数调定耗时及直接试飞样机不易观察控制效果问题,基于姿态调节平台获取了初始控制参数,然后对样机进行了多次试飞实验,并多次调定参数,最终实现了样机稳定垂直起飞。The insect-like Flapping Wing Micro Air Vehicle(FW-MAV)can simulate the flight attitudes of the insect such as hovering,vertical take-off and side flying,thus adapting to complex and multi-barrier environments and having broad application prospects.In this study,an insect-like FW-MAV which could take off vertically with a weight of 23.8 g,a wingspan of 18 cm,a flapping amplitude of 180°,and a flapping frequency of 22 Hz is developed.The mechanism combining a crank rocker and a pulley is selected as the schematic of the flapping mechanism to solve the problems of high friction and complicated structure of existing flapping mechanisms.A couple of flexible wings with a twist angle are selected as the wings of the vehicle for higher aerodynamic efficiency.Considering that existing attitude adjustment mechanisms have increased the complexity of the whole vehicle structure,a new attitude adjustment structure is designed based on the wing twist attitude adjustment mechanism,and an aerodynamic measurement platform and an attitude adjustment platform are also built.The measurement results of the aerodynamic lift and attitude torque indicate that the wing could provide sufficient lift and the attitude adjustment mechanism is feasible,based on which the PD(Proportional Differential)control law is selected as the control mode of the vehicle.To solve the problems of time consumption for parameter adjustment and the difficultly observing the control effect in the direct flying of the vehicle,the initial control parameters are obtained based on the attitude adjustment platform,followed by several direct flying tests where the parameters are also adjusted for several times.Finally,stable vertical takeoff of the vehicle is realized.

关 键 词：仿昆虫微型扑翼飞行器 样机实验 姿态调节 姿态控制 PD控制律 

分 类 号：V276[航空宇航科学与技术—飞行器设计]