Control Oriented Modeling and Singular Perturbation Analysis in Flapping-wing Flight

被引：0

作者：

Qian C. ^{[1
,2
]}

Fang Y.-C. ^{[1
,2
]}

Li Y.-P. ^{[1
,2
]}

机构：

[1] Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin

[2] Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2022年 / 48卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Flapping-wing flight; Multi-rigid-body dynamics; Periodic system; Singular perturbation;

D O I：

10.16383/j.aas.c190858

中图分类号：

学科分类号：

摘要：

In view of the periodicity and the time scale difference in flapping flight, as well as the practical problems in the control of flapping flight, a singular perturbation theory based system stability analysis method for periodic flapping-wing motions is proposed in this paper. Firstly, a multi-rigid body model of flapping wing vehicle is established, which paves the way for the singular perturbation analysis of flapping wing dynamics. Secondly, the multi rigid body model is simplified, and the core problem of flapping wing flight dynamics is abstracted. By using the singular perturbation theory, the stability of flapping wing flight periodic orbit is analyzed, and its superiority compared with other methods is discussed. Finally, the experiments of real flight are conducted in the self-made four degrees of freedom flapping wing aircraft, which verify the effectiveness of the proposed method. Copyright ©2019 Acta Automatica Sinica. All rights reserved.

引用

页码：434 / 443

页数：9

共 42 条

[1]

He Wei, Ding Shi-Qiang, Sun Chang-Yin, Research progress on modeling and control of flapping-wing air vehicles, Acta Automatica Sinica, 43, 5, pp. 685-696, (2017)

[2]

Ding Qi-Chuan, Xiong An-Bin, Zhao Xin-Gang, Han Jian-Da, A Review on Researches and Applications of sEMG-based Motion Intent Recognition Methods, Acta Automatica Sinica, 42, 1, pp. 13-25, (2016)

[3]

Li Jian-Feng, Li Guo-Tong, Zhang Lei-Yu, Yang Dong-Sheng, Wang Hai-Dong, Advances and Key Techniques of Soft Wearable Lower Limb Power-assisted Robots, Acta Automatica Sinica, 46, 3, pp. 427-438, (2020)

[4]

Wang Tian-Zhu, Wu Zheng-Xing, Yu Jun-Zhi, Tan Min, Zhang Feng, Progress and Perspective of Ice and Snow Sport Biomechanics and Related Robots, Acta Automatica Sinica, 45, 9, pp. 1620-1636, (2019)

[5]

Fei F, Tu Z, Zhang J, Deng X Y., Learning extreme hummingbird maneuvers on flapping wing robots, Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), pp. 109-115, (2019)

[6]

Tu Z, Fei F, Zhang J, Deng X., An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation, IEEE Transactions on Robotics, (2020)

[7]

He G, Su T, Jia T, Zhao L, Zhao Q., Dynamics Analysis and Control of a Bird Scale Underactuated Flapping-Wing Vehicle, IEEE Transactions on Control Systems Technology, 28, 4, pp. 1233-1242, (2020)

[8]

Ang Hai-song, Design principles and strategies of micro air vehicle, Acta Aeronautica et Astronautica Sinica, 37, 1, pp. 69-80, (2016)

[9]

Ang Hai-song, Xiao Tian-hang, ZHENG Xiang-ming, Design and Analysis of Low Reynolds Number and Unsteady Aerodynamic Based on Micro Air Vehicles, Unmanned Systems Technology, 4, pp. 17-32, (2018)

[10]

Yang Wen-qing, Song Bi-feng, Song Wen-pin, Chen Li-li, The progress and challenges of aerodynamics in the bionic flapping-wing micro air vehicle, Journal of Experiments in Fluid Mechanics, 29, 3, pp. 1-10, (2015)

← 1 2 3 4 5 →