Biologically Inspired Feedback Design for Drosophila Flight
Biologically Inspired Feedback Design for Drosophila Flight
复制标题
果蝇飞行的仿生反馈设计
DOI：
10.1109/acc.2007.4282971
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
R. Murray
中科院分区：
文献类型：
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作者：
M. Epstein;S. Waydo;S. B. Fuller;W. Dickson;A. Straw;M. Dickinson;R. Murray
我们利用果蝇飞行力学和传感器处理的生物激励模型，设计了一种反馈控制方案来调节向前飞行。用于昆虫飞行的模型是大统一飞行(GUF)[3]模拟，包括刚体运动学、气动力和力矩、感觉系统和3D环境模型。我们寻求设计一种控制算法，将感觉信号转换为适当的机翼拍打命令，以调节向前飞行。调节机翼拍频和平均冲程角度会导致飞行包络的变化。感官信号包括来自咽喉器官的旋转速度估计，以及来自视觉基本运动检测器(EMD)和匹配的视网膜速度过滤器的平移速度估计。该控制器是基于飞行动力学的纵向模型设计的。前馈命令是基于期望的前向速度生成的。在此工作点附近对动态进行线性化，并设计反馈控制器来校正与工作点的偏差。控制算法在GUF模拟器中实现，实现了对前向参考速度的期望跟踪，并显示出生物逼真的响应。
We use a biologically motivated model of the Drosophila's flight mechanics and sensor processing to design a feedback control scheme to regulate forward flight. The model used for insect flight is the grand unified fly (GUF) [3] simulation consisting of rigid body kinematics, aerodynamic forces and moments, sensory systems, and a 3D environment model. We seek to design a control algorithm that will convert the sensory signals into proper wing beat commands to regulate forward flight. Modulating the wing beat frequency and mean stroke angle produces changes in the flight envelope. The sensory signals consist of estimates of rotational velocity from the haltere organs and translational velocity estimates from visual elementary motion detectors (EMD's) and matched retinal velocity filters. The controller is designed based on a longitudinal model of the flight dynamics. Feedforward commands are generated based on a desired forward velocity. The dynamics are linearized around this operating point and a feedback controller designed to correct deviations from the operating point. The control algorithm is implemented in the GUF simulator and achieves the desired tracking of the forward reference velocities and exhibits biologically realistic responses.