仿生扑翼飞行器姿态稳定控制设计与实验  

Design and experiment of attitude stability control for bionic flapping wing aircraft

作　　者：彭召伟 邵伟平[1,2] 郝永平 张淳彭[1,2] 刘子威 杨健 PENG Zhaowei;SHAO Weiping;HAO Yongping;ZHANG Chunpeng;LIU Ziwei;YANG Jian(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;Liaoning Key Laboratory of Advanced Manufacturing Technology and Equipment,Shenyang 110159,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159 [2]辽宁省先进制造技术与装备重点实验室,沈阳110159

出　　处：《兵器装备工程学报》2024年第9期31-37,共7页Journal of Ordnance Equipment Engineering

基　　金：辽宁省教育厅面上重点项目(LJKZ0236)。

摘　　要：针对扑翼飞行器在飞行过程中姿态调整控制问题,提出了一种快速响应的自动姿态稳定控制方法。利用牛顿定律和动量矩定理建立扑翼飞行器数学模型,结合扑翼飞行器姿态变化工作原理,研究飞行过程中姿态调整控制方案策略。采用串级PID控制算法设计姿态调整内环和外环控制器,以扑翼飞行器欧拉角为输出,对扑翼飞行器姿态调整过程进行了仿真计算以及外场飞行实验。通过对扑翼飞行器姿态角的响应仿真分析及外场飞行实验数据分析,验证了扑翼飞行器数学模型的准确性及姿态控制器的有效性。结果表明:在阶跃信号输入下,姿态角能快速响应并快速趋于稳态,外场飞行中扑翼飞行器俯仰角保持15°,飞行加速度保持1 m/s^(2),可以较好地自动保持姿态稳定。A fast response automatic attitude stabilization control method is proposed to address the current situation where attitude control for flapping wing aircraft is mostly manual during flight.Establish a mathematical model of flapping wing aircraft using Newton’s law and moment of momentum theorem,and study the attitude adjustment control strategy during flight based on the working principle of flapping wing aircraft attitude change.The cascade PID control algorithm is used to design the inner and outer loop controllers for attitude adjustment.With the Euler angles of the flapping wing aircraft as the output,the attitude adjustment process of the flapping wing aircraft is simulated and tested in the outfield.The accuracy of the flapping wing aircraft mathematical model and the effectiveness of the attitude controller were verified through simulation analysis of the attitude angle response of the flapping wing aircraft and analysis of field flight experimental data.The results show that under step signal input,the attitude angle can quickly respond and approach steady state.In outfield flight,the flapping wing aircraft maintains a pitch angle of 15 degrees and a flight acceleration of 1 m/s^(2),which can effectively maintain attitude stability automatically.

关 键 词：仿生扑翼飞行器 姿态控制 串级PID 自主稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]