An Experimental Study on Response and Control of a Flapping-Wing Aerial Robot Under Wind Gusts  

作　　者：Kazuki Shimura Hikaru Aono Chang-kwon Kang 

机构地区：[1]Graduate School of Science and Technology,Shinshu University,3-15-1 Tokida,Ueda,Nagano 3868567,Japan [2]Department of Mechanical Engineering and Robotics,3-15-1 Tokida,Ueda,Nagano 3868567,Japan [3]Department of Mechanical and Aerospace Engineering,University of Alabama in Huntsville,Technology Hall N266,Huntsville,AL35899,USA

出　　处：《Journal of Bionic Engineering》2024年第1期209-223,共15页仿生工程学报（英文版）

基　　金：supported by Japan Society for the Promotion of Science KAKENHI under Grant No.JP22H01397;supported by the National Science Foundation under Grant No.CMMI-1761618.

摘　　要：Bioinspired flapping-wing micro-air-vehicles(FWMAVs)have the potential to be useful aerial tools for gathering information in various environments.With recent advancements in manufacturing technologies and better understanding of aerodynamic mechanisms behind of the flapping flight,outdoor flights have become a reality.However,to fully realize the potential of FWMAVs,further improvements are necessary,particularly in terms of stability and robustness under gusty conditions.In this study,the response and control of a tailless two-winged FWMAV under the wind gusts are investigated.Physical experiments are conducted with a one-degree-of-freedom gimbal to focus on effects of wind gusts on the rotational motion of the FWMAV.Proportional-derivative and sliding-mode controls are adopted for the attitude control.Results present that the body angles changed in time and reached approximately 50°at the maximum due to the wing gusts.The sliding-mode controller can more effectively control the rotational angle in the presence of disturbances and both the wing speed and changes in wind speed have an impact on the effectiveness of attitude control.These results contribute to the development of of tailless two-winged,single-motor driven FWMAVs in terms of the design of attitude controller and testing apparatus.

关 键 词：Flapping-wing micro-air vehicles Sliding-mode control Pitch and roll angle-Wind gus 

分 类 号：V276[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]