Neurobiologically Inspired Control of Engineered Flapping Flight
Neurobiologically Inspired Control of Engineered Flapping Flight
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DOI：
10.2514/1.45311
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发表时间：
2010-03-01
影响因子：
2.6
通讯作者：
Dorothy, Michael
中科院分区：
文献类型：
--
作者：
Chung, Soon-Jo;Dorothy, Michael
本文提出了一种新的控制方法和动力学模型的工程扑翼飞行与多个相互作用的自由度。本文探讨了应用神经生物学启发控制系统的形式，中央模式发生器控制扑翼飞行动力学。基于非线性振子的相位同步，提出了一种设计复杂三维机翼运动的严格数学和控制理论框架。特别是，我们表明，没有尾巴或传统的气动控制面的扑翼飞行动力学可以有效地控制由一组减少的中央模式发生器参数，产生相位同步或破坏振荡运动的两个主翼。此外，通过使用霍普夫分岔，我们表明，无尾飞行器之间的挥舞和滑翔交替可以有效地稳定由中央模式发生器网络驱动的光滑机翼运动。全六自由度飞行动力学模型的数值仿真结果验证了所提出的神经生物启发控制方法的有效性。
This paper presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of central pattern generators to control flapping-flight dynamics. A rigorous mathematical and control theoretic framework to design complex three-dimensional wing motions is presented based on phase synchronization of nonlinear oscillators. In particular, we show that flapping-flying dynamics without a tail or traditional aerodynamic control surfaces can be effectively controlled by a reduced set of central pattern generator parameters that generate phase-synchronized or symmetry-breaking oscillatory motions of two main wings. Furthermore, by using Hopf bifurcation, we show that tailless aircraft alternating between flapping and gliding can be effectively stabilized by smooth wing motions driven by the central pattern generator network. Results of numerical simulation with a full six-degree-of-freedom flight dynamic model validate the effectiveness of the proposed neurobiologically inspired control approach.