Development of a Bio-inspired Tailless FWMAV with High-Frequency Flapping Wings Trajectory Tracking Control  

作　　者：Qingcheng Guo Chaofeng Wu Yichen Zhang Feng Cui Wu Liu Xiaosheng Wu Junguo Lu 

机构地区：[1]National Key Laboratory of Advanced Micro and Nano Manufacture Technology,Shanghai Jiao Tong University,Shanghai,200240,China [2]Department of Micro/Nano Electronics,School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai,200240,China [3]Department of Automation,Shanghai Jiao Tong University,Shanghai,200240,China [4]The Key Laboratory of System Control and Information Processing,Ministry of Education of China,Shanghai,200240,China

出　　处：《Journal of Bionic Engineering》2024年第5期2145-2166,共22页仿生工程学报(英文版)

基　　金：support by the National Natural Science Foundation of China(No.62073217,No.61871266);the Fund of the Ministry of Education of the People’s Republic of China(6141A02022607,6141A020227);the Fund of the Professional Technical Service Platform of Shanghai(19DZ2291103).

摘　　要：The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this work.By implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly errors.Traditionally,studies on flapping wing aircraft are limited to open-loop wing kinematics control.In this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking errors.The control system is based on Field-Oriented Control(FOC)with a loop shaping compensation technique near the flapping frequency.Through frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping system.To implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 g.By utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.

关 键 词：Flapping Wing Micro Aerial Vehicle(FWMAV) Bio-inspired robotics Trajectory control Loop shaping compensator Field-Oriented Control(FOC) 

分 类 号：V21[航空宇航科学与技术—航空宇航推进理论与工程]