Free flight simulations and pitch and roll control experiments of a sub-gram flapping-flight micro aerial vehicle
Free flight simulations and pitch and roll control experiments of a sub-gram flapping-flight micro aerial vehicle
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亚克级扑翼微型飞行器自由飞行模拟及俯仰滚转控制实验
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
M. Sitti
中科院分区：
文献类型：
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作者：
L. Hines;V. Arabagi;M. Sitti
扑动飞行微型飞行器（MAV）给科学界带来了一个持续的设计问题，需要仔细考虑机身结构和力的产生。在这里，我们研究了具有被动旋转机翼设计的扑翼微型飞行器原型。虽然在目前的规模下产生的升力不足以升空，但观察其在滚转和俯仰控制下的性能可以深入了解机身设计和最终的自由飞行实施。由于该设计的横滚和俯仰扭矩的产生主要是解耦的，因此在定制设计的单自由度装置上分别在横滚和俯仰方向上实施 PID 控制。通过这样做，我们表明机身结构能够维持独立的机翼振幅，并且执行器输入电压偏置偏移在动态驱动机翼上通过实验成功。通过力补偿，经过实验测试的控制器被映射到 1/2 比例的模拟系统，理论上能够自由飞行。尽管最初的仿真结果表明对反馈噪声高度敏感，但仿真表明解耦的滚动和俯仰控制器具有作为悬停和平移运动的最小计算手段的潜力。
Flapping-flight micro aerial vehicles (MAVs) pose an ongoing design problem to the scientific community, requiring careful consideration of both body structure and force production. Here, we examine a flapping MAV prototype with a passively rotating wing design. While at the current scale the lift force produced is not enough for liftoff, observing its performance under roll and pitch control can lead to insights on both the body design and the eventual free-flight implementation. As the production of roll and pitch torques are primarily uncoupled for this design, PID control is implemented in the roll and pitch directions individually on a custom designed single degree of freedom rig. By doing so, we show that the body structure is capable of sustaining independent wing amplitudes and that actuator input voltage bias shifting is successful experimentally on a dynamically driven wing. Through force compensation, the experimentally tested controller is mapped to a ½ scale simulated system, theoretically capable of free-flight. Though initial simulation results suggest high sensitivity to feedback noise, simulations show that decoupled roll and pitch controllers have potential as a minimal computational means for hovering and translational motion.