扑翼飞行器的变幅飞行策略的设计与实现  

Design and Implementation of a Variable-amplitude Flight Strategy for Flapping-wing Aircraft

作　　者：张良[1,2,3] 何修宇[1,2,3] 王者奇[1,2,3] 贺威 ZHANG Liang;HE Xiuyu;WANG Zheqi;HE Wei(School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China;Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;Key Laboratory of Intelligent Bionic Unmanned Systems,Ministry of Education,Beijing 100083,China)

机构地区：[1]北京科技大学智能科学与技术学院,北京100083 [2]北京科技大学人工智能研究院,北京100083 [3]智能仿生无人系统教育部重点实验室,北京100083

出　　处：《机器人》2025年第1期76-84,共9页Robot

基　　金：国家自然科学基金(62225304,U2013201,61933001,62373045)。

摘　　要：自然界的鸟类在面对不断变化的气流条件时,会主动调整翅膀的扑动幅度来提升飞行效率。本文模仿这一行为(变幅飞行)设计了扑翼飞行器,并提出了一种基于电机闭环控制的变幅飞行策略。首先考虑电机的动力学模型以及翅膀运动的动态特性,建立翅膀扑动角度的闭环模型,设计控制器实现对翅膀扑动角度的精确控制。在此基础上,设计了包含滑翔飞行功能的变幅飞行策略,并通过数值仿真验证了策略的有效性。给出了一种适用于多种中大型扑翼飞行机器人的解决方案实现变幅飞行策略的实际应用,该方案以仿猎鹰扑翼飞行器作为基础平台,添加了采集翅膀扑动角度的传感器以及用于运行变幅飞行控制算法的Falcon 2.0飞控板。改进后平台总质量增加不到30 g。地面实验结果显示,翅膀可以在0.2 s内达到滑翔指定角度,也可以进行扑频在1~4 Hz的变幅飞行;地面转台实验表明该策略可以进一步提升气流利用效率,升力较传统周期扑动方式提升了14.7%。飞行试验表明,飞行器能够在0.5 s内实现稳定滑翔,也可进行频率2~3 Hz的变幅飞行,充分验证了所提出的变幅飞行策略的有效性。本文设计的变幅飞行策略提升了扑翼飞行器翅膀扑动的自由度,为扑翼飞行器的性能优化和实际应用提供了有效的解决方案。Facing constantly varying airflow conditions,birds in nature adjust their flapping amplitude of wings to enhance flight efficiency.This behavior,termed variable-amplitude flight,is mimicked by the proposed flying robots,and a variableamplitude flight strategy based on motor closed-loop control is proposed.Firstly,a closed-loop model of wing flapping angle is built,considering the dynamic model of the motor and the dynamic characteristics of wing motion.Then,a controller is designed to achieve precise control of wing flapping angle.Building upon this,a variable-amplitude flight strategy with gliding functionality is devised and its effectiveness is validated through numerical simulations.A solution is provided for the practical application of the variable-amplitude flight strategy for various medium to large flapping-wing flying robots.This solution is based on a falcon-inspired flapping-wing aircraft platform,which is equipped with sensors to collect wing flapping angles and a Falcon 2.0 flight control board to run the variable-amplitude flight control algorithm.The total mass of the equipped platform is increased by less than 30 g.As the results of the ground experiments,the wings reach the specified glide angle within 0.2 s,and variable-amplitude flight can be achieved with wings flapping at variable frequencies between 1∼4 Hz.Additionally,ground turntable experiments demonstrate the proposed strategy can further improve the airflow utilization efficiency,with a 14.7%increase in the lift compared to traditional cyclic flapping methods.Flight tests show that the aircraft can achieve stable gliding within 0.5 s and can also perform variable-amplitude flight at frequencies of 2∼3 Hz,fully validating the effectiveness of the proposed variable-amplitude flight strategy.The proposed variable-amplitude flight strategy enhances the degrees of freedom of the wing flapping motion of flapping-wing aircraft,providing an effective solution for performance optimization and practical applications of flapping-wing aircraft

关 键 词：仿生扑翼飞行器 滑翔飞行 变幅飞行 电机控制 

分 类 号：V276[航空宇航科学与技术—飞行器设计]