Vibrational Control in Flapping-Wing Micro-Air-Vehicles
Vibrational Control in Flapping-Wing Micro-Air-Vehicles
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DOI：
10.23919/acc.2018.8431579
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发表时间：
2018-06
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影响因子：
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通讯作者：
Haithem E. Taha;M. Kiani;Joel Navarro
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文献类型：
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作者：
Haithem E. Taha;M. Kiani;Joel Navarro
扑翼微型飞行器(FWMAV)是一种模仿昆虫和鸟类飞行的仿生飞行器。这些系统的动力学行为通常被描述为一个多体、多时间尺度、非线性、时变的动力系统。有趣的是，这种丰富的动力学导致了非传统的稳定机制，其研究基本上需要进行严格的数学分析。在本文中，我们使用基于时间演算的高阶平均来说明昆虫和它们的人造同类(FWMAV)利用振动控制来稳定它们的身体俯仰角。这种非常规的稳定不能通过直接平均来实现。我们还通过构建一个允许身体两个自由度的实验装置来实验演示这种现象：向前运动和俯仰运动。我们使用数码相机和图像处理算法测量了不同拍打频率下的身体俯仰角响应。研究发现，存在一个拍动频率阈值，超过该阈值后，人体俯仰响应自然稳定(无反馈)，这符合振动控制的概念。此外，我们还建立了一个实验装置的复制品，用恒速旋转的螺旋桨取代了FWMAV，从而产生了恒定的气动力，没有留下振动控制的空间。螺旋桨装置的响应在所有频率下都是不稳定的，这也证实了在高频下观察到的FWMAV装置的稳定是一种振动稳定现象。
Flapping-Wing Micro-Air-Vehicles (FWMAVs) are bio-inspired air vehicles that mimic insect and bird flight. The dynamic behavior of these systems is typically described by a multi-body, multi-time-scale, nonlinear, time-varying dynamical system. Interestingly, this rich dynamics lead to unconventional stabilization mechanisms whose study essentially necessitates a mathematically rigorous analysis. In this paper, we use higherorder averaging, which is based on chronological calculus, to show that insects and their man-made counterparts (FWMAVs) exploit vibrational control to stabilize their body pitching angle. Such an unconventional stabilization cannot be captured by direct averaging. We also experimentally demonstrate such a phenomenon by constructing an experimental setup that allows for two degrees of freedom for the body; forward motion and pitching motion. We measure the response of the body pitching angle using a digital camera and an image processing algorithm at different flapping frequencies. It is found that there is a flapping frequency threshold beyond which the body pitching response is naturally (without feedback) stabilized, which conforms with the vibrational control concept. Moreover, we also construct a replica of the experimental setup with the FWMAV being replaced by a propeller revolving at constant speed, which results in a constant aerodynamic force, leaving no room for vibrational control. The response of the propeller-setup is unstable at all frequencies, which also corroborates the fact that the observed stabilization of the FWMAV-setup at high frequencies is a vibrational stabilization phenomenon.