A high-voltage power electronics unit for flying insect robots that can modulate wing thrust
A high-voltage power electronics unit for flying insect robots that can modulate wing thrust
复制标题
一种用于飞行昆虫机器人的高压电力电子装置，可调节翅膀推力
DOI：
10.1109/icra48506.2021.9561869
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Sawyer B. Fuller
中科院分区：
文献类型：
--
作者：
Johannes M. James;Sawyer B. Fuller
与较大型机器人相比，扑翼昆虫级机器人（<500毫克）在农业辅助、环境监测以及危险场所或地外空间探索等应用中具有巨大的潜在优势。赋予小型机器人优势的尺度定律，例如降低材料成本和减少电力需求，也带来了微型化的挑战。在此，我们应对的挑战是向压电致动器提供一个可调制以改变机翼推力的高压振荡信号。我们提出了一种能够调制推力的系统，用于产生控制扑翼昆虫大小机器人所需的力和扭矩。带有升压转换器和两个驱动器的电力电子单元重90毫克，包括可选的15毫克输出储能电容器（不包括8毫克微控制器）。在驱动器负载下，升压转换器在输出240伏时以30 - 40%的效率运行，输入电压为7伏，驱动器在典型的工作输出电压160 - 220伏峰峰值下产生正弦扑翼信号，总谐波失真<14%。该系统能够在40 - 200伏峰峰值的70%测试振幅范围内线性调制测量到的推力。此处报道的推力调制对于使用机载动力系统实现可控飞行是必要的，而非通过有线系绳由外部提供信号。
Flapping-wing insect-scale robots (<500 mg) offer enormous potential advantages over larger robots in applications such as agricultural support, environmental monitoring, and exploration of hazardous locations or extra-terrestrial space. Scaling laws that confer advantages to smaller robots, such as reduced materials cost and lower power requirements, also pose miniaturization challenges. Here we address the challenge of supplying a high voltage, oscillating signal to piezoelectric actuators that can be modulated to vary wing thrust. We present a system capable of modulating thrust for the generation of forces and torques required for control of flapping-wing insect sized robots. The power electronics unit with boost converter and two drivers is 90 mg including optional 15 mg output storage capacitor (not including 8 mg MCU). The boost converter operates at 30–40% efficiency at 240 V output under driver load and supplied with 7 V, and the driver produces sinusoidal wing flapping signals at typical operating output voltages of 160–220 Vpp with <14% total harmonic distortion. The system can linearly modulate measured thrust over 70% of the tested amplitude range from 40–200 Vpp. The thrust modulation reported here is necessary to realize controlled flight using on-board power systems, instead of externally provided signals via a wire tether.
影响因子：
64.8
作者：
Jafferis, Noah T.;Helbling, E. Farrell;Wood, Robert J.
通讯作者：
Wood, Robert J.
影响因子：
7.8
作者：
Chukewad, Yogesh M.;James, Johannes;Fuller, Sawyer
通讯作者：
Fuller, Sawyer