扑翼飞行器定高飞行控制器的模型构建与仿真  

Model construction and simulation of fixed height flight controller for ornithopter

作　　者：杜巧玲[1] 张天和 郑伟[2] DU Qiaoling;ZHANG Tianhe;ZHENG Wei(College of Electronic Science and Engineering,Jilin University,Changchun 130012,Jilin,China;College of Computer Science and Technology,Jilin University,Changchun 130012,Jilin,China)

机构地区：[1]吉林大学电子科学与工程学院,吉林长春130012 [2]吉林大学计算机科学与技术学院,吉林长春130012

出　　处：《沈阳工业大学学报》2024年第6期827-831,共5页Journal of Shenyang University of Technology

基　　金：吉林省科技发展计划项目(20240302038GX)。

摘　　要：针对传统飞行控制算法适应性差以及扑翼飞行器气动特性复杂,导致飞行控制算法需具备较强自适应性的问题,提出了一种基于模糊自适应PID算法的新型仿生扑翼机定高飞行控制器。通过复数矢量法设计了一款结构简单的新型扑翼结构,并通过运动学仿真与计算流体力学仿真建立了扑翼飞行器的定高飞行运动学模型。仿真测试了所设计的模糊自适应PID控制器对于该运动学模型的控制效果,并与基于传统算法的控制器进行了对比。实验结果表明,所设计的模糊自适应PID定高飞行控制器比传统控制器具有更好的响应特性和适应性。Aiming at the problem of poor adaptability of traditional flight control algorithms and complex aerodynamic characteristics of ornithopter,a fixed height flight controller based on fuzzy adaptive PID algorithm for new bionic ornithopter was proposed.A new type of flapping wing with simple structure was designed by using complex vector method,and the flight kinematics model of ornithopter at fixed height was established by kinematic simulation and computational fluid dynamics simulation.The control effect of the fuzzy adaptive PID controller designed in this paper on this model was tested by simulation,and compared with the controller based on the traditional algorithms.The experimental results show that the as-proposed fuzzy adaptive PID controller has better response characteristics and adaptability than the traditional controller.

关 键 词：模糊自适应PID 飞行控制 扑翼飞行器 结构设计 仿生 连杆机构 运动仿真 计算流体力学仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]