Dynamics and Control of a Minimally Actuated Biomimetic Vehicle: Part II - Control
Dynamics and Control of a Minimally Actuated Biomimetic Vehicle: Part II - Control
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最小驱动仿生车辆的动力学和控制：第二部分 - 控制
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
D. Sigthorsson
中科院分区：
文献类型：
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作者：
M. Oppenheimer;D. Doman;D. Sigthorsson
提出了一种最小驱动扑翼微型飞行器的控制策略。拟议的车辆类似于哈佛RoboFly，完成了昆虫规模扑翼飞机的第一次起飞，除了它配备了独立驱动的翅膀和车辆的重心可以操纵控制的目的。利用第一部分推导空气动力和力矩的结果，设计了控制分配策略和反馈控制律，使飞行器能够在悬停状态下实现无束缚、稳定飞行。控制律的设计是利用三个执行器，其中两个控制的角度位置的机翼在行程平面，和一个移动的配重，操纵车辆的重心。在第一部分中介绍的分周期恒定周期频率调制技术用于使每个机翼产生非零的周期平均滚转和偏航力矩。该技术通过改变振荡器的频率来实现该目的，该振荡器在整个翼拍周期中驱动每个翼，使得在上冲程期间作用在每个翼上的动压力不同于作用在下冲程期间的动压力。
A control strategy is proposed for a minimally-actuated flapping-wing micro air-vehicle (FWMAV). The proposed vehicle is similar to the Harvard RoboFly that accomplished the first takeoff of an insect scale flapping wing aircraft, except that it is equipped with independently actuated wings and the vehicle center-of-gravity can be manipulated for control purposes. Using the results from the derivation of the aerodynamic forces and moments from Part I, a control allocation strategy and a feedback control law are designed that enables the vehicle to achieve untethered, stabilized flight about a hover condition. The control laws are designed to make use of three actuators, two of which control the angular position of the wing in the stroke plane, and one that moves a bob-weight that manipulates the vehicle center-of-gravity. The Split-Cycle Constant-Period Frequency Modulation technique, introduced in Part I, is used to allow each wing to generate nonzero cycle-averaged rolling and yawing moments. The technique achieves this objective by varying the frequency of the oscillators, that drive each wing throughout the wing-beat cycles, such that the dynamic pressure acting on each wing during the upstroke is different from that which acts on the