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Dynamics and Control of Hummingbird-Inspired Aerial Robots

受蜂鸟启发的空中机器人的动力学和控制

基本信息

批准号：
1663247
负责人：
Moble Benedict
金额：
$ 24.22万
依托单位：
Texas A&M Engineering Experiment Station
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-07-01 至 2022-06-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1663247&HistoricalAwards=false
关键词：
Dynamics Control Hummingbird Inspired Aerial

项目摘要

The goal of this project is to advance the state of the art in the dynamics and control of flapping-wing flight, enabling creation of a next generation of miniature flying robots, with robustness and agility comparable to natural flyers. Specifically, this project has the goal of creating flying robots with the remarkable flying qualities found in hummingbirds. The insights to enable these advances will be obtained from analytical and computational studies of the role played by wing flexibility in hummingbird flight mechanics, which will be validated experimentally on a hummingbird-like flying robot. Flying robots with these capabilities would play pivotal roles in missions such as search and rescue, environmental monitoring, and emergency response. The project will leverage the inherently intriguing aspect of the robotic hummingbird to cultivate an engaging environment for creative, rigorous application of aerodynamics, dynamics and control theory to motivate a diverse population of students to pursue STEM education and careers. The PI will organize lab visits, summer camps and participate as a guest speaker in K-12 outreach programs for minority and women students and provide research experiences for aerospace graduate and undergraduate students.This project will improve understanding of the flight dynamics, maneuverability, and disturbance rejection capabilities of realistic hummingbird-like flapping-wing robots through fully nonlinear simulations and flight experiments. Results of the project will include the creation and experimental validation of a fully nonlinear 6-DOF flight dynamics model of a hummingbird-like flapping-wing robot with flexible wings, comprehensive nonlinear simulations and flight tests to identify critical design parameters for stability and controllability of a flapping-wing robot in hover, and control design for maneuverability and disturbance rejection based on identified linear time invariant models. The project will address the role of passive wing-twist in maneuverability, the effect on stability of dynamic coupling between large unsteady wing deflections and the resulting aerodynamic and inertial forces, the role of center of gravity location in stability while hovering, the effect of nonlinearities and modeling uncertainties, and the relation between the flapping wing mechanics and wind gust response. The outcomes will provide increased understanding of the aerodynamic and control mechanisms of natural flight, and show how these mechanisms may be applied to dramatically improve the maneuverability and gust-tolerance capabilities of the next generation of bio-inspired micro air vehicles.

该项目的目标是推进扑翼飞行动力学和控制的最新技术，使下一代微型飞行机器人的诞生成为可能，这些机器人的鲁棒性和敏捷性可与自然飞行者相媲美。具体来说，这个项目的目标是创造具有蜂鸟非凡飞行品质的飞行机器人。实现这些进步的见解将从蜂鸟飞行力学中翅膀灵活性所起作用的分析和计算研究中获得，这将在一个类似蜂鸟的飞行机器人上进行实验验证。具有这些能力的飞行机器人将在搜索和救援、环境监测和应急响应等任务中发挥关键作用。该项目将利用蜂鸟机器人固有的有趣方面，为空气动力学、动力学和控制理论的创造性、严格的应用培养一个有吸引力的环境，以激励不同群体的学生追求STEM教育和职业。PI将组织实验室访问、夏令营，并作为客座演讲者参加面向少数民族和女性学生的K-12扩展计划，并为航天研究生和本科生提供研究经验。本项目将通过全非线性仿真和飞行实验，提高对现实类蜂鸟扑翼机器人的飞行动力学、机动性和抗干扰能力的理解。该项目的结果将包括创建和实验验证具有柔性翅膀的蜂鸟型扑翼机器人的全非线性六自由度飞行动力学模型，全面的非线性模拟和飞行测试，以确定扑翼机器人悬停稳定性和可控性的关键设计参数，以及基于已识别的线性时不变模型的机动性和抗扰控制设计。该项目将研究被动机翼扭转对机动性的影响，大非定常机翼挠度与气动和惯性力之间的动态耦合对稳定性的影响，悬停时重心位置对稳定性的影响，非线性和建模不确定性的影响，以及扑翼力学与阵风响应之间的关系。研究结果将增加对自然飞行的空气动力学和控制机制的理解，并展示如何将这些机制应用于显著提高下一代仿生微型飞行器的机动性和耐风能力。