An Experimental Study on Response and Control of a Flapping-Wing Aerial Robot Under Wind Gusts
An Experimental Study on Response and Control of a Flapping-Wing Aerial Robot Under Wind Gusts
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DOI：
10.1007/s42235-023-00426-x
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发表时间：
2023-09-13
影响因子：
4
通讯作者：
Kang，Chang-kwon
中科院分区：
文献类型：
--
作者：
Shimura，Kazuki;Aono，Hikaru;Kang，Chang-kwon
仿生扑翼微型飞行器（FWMAVs）有可能成为在各种环境中收集信息的有用航空工具。随着制造技术的进步和对扑翼飞行背后的空气动力学机制的更好理解，户外飞行已经成为现实。然而，为了充分发挥FWMAV的潜力，需要进一步改进，特别是在阵风条件下的稳定性和鲁棒性方面。本文研究了无尾双翼FWMAV在阵风作用下的响应和控制问题。利用单自由度框架进行了阵风对FWMAV旋转运动影响的物理实验。姿态控制采用比例-微分控制和滑模控制。结果表明，由于翼阵风的影响，机身角随时间变化，最大可达50 °左右。滑模控制器可以更有效地控制存在干扰的旋转角，并且翼速度和风速的变化都对姿态控制的有效性有影响。研究结果为无尾双翼单电机FWMAV的姿态控制器和试验装置的设计提供了理论依据。
Bioinspired flapping-wing micro-air-vehicles (FWMAVs) have the potential to be useful aerial tools for gathering information in various environments. With recent advancements in manufacturing technologies and better understanding of aerodynamic mechanisms behind of the flapping flight, outdoor flights have become a reality. However, to fully realize the potential of FWMAVs, further improvements are necessary, particularly in terms of stability and robustness under gusty conditions. In this study, the response and control of a tailless two-winged FWMAV under the wind gusts are investigated. Physical experiments are conducted with a one-degree-of-freedom gimbal to focus on effects of wind gusts on the rotational motion of the FWMAV. Proportional-derivative and sliding-mode controls are adopted for the attitude control. Results present that the body angles changed in time and reached approximately 50at the maximum due to the wing gusts. The sliding-mode controller can more effectively control the rotational angle in the presence of disturbances and both the wing speed and changes in wind speed have an impact on the effectiveness of attitude control. These results contribute to the development of of tailless two-winged, single-motor driven FWMAVs in terms of the design of attitude controller and testing apparatus.