面向控制的仿鸽扑翼机纵向动力学建模与分析

彭程; 孙立国; 王衍洋; 谭文倩; 肖峰

doi:10.13700/j.bh.1001-5965.2021.0130

面向控制的仿鸽扑翼机纵向动力学建模与分析

doi: 10.13700/j.bh.1001-5965.2021.0130

北京航空航天大学航空科学与工程学院, 北京 100191

基金项目:

航空科学基金 20185702003

详细信息

通讯作者:
王衍洋, E-mail: wangyanyang@buaa.edu.cn

中图分类号: V276
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- 被引次数: 0
出版历程
- 收稿日期: 2021-03-22
- 录用日期: 2021-05-14
- 网络出版日期: 2021-06-15
- 整期出版日期: 2022-12-20

Control oriented longitudinal modeling and analysis of pigeon-like flapping-wing aircraft

School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China

Funds:

Aeronautical Science Foundation of China 20185702003

More Information

Corresponding author: WANG Yanyang, E-mail: wangyanyang@buaa.edu.cn

摘要

摘要:
鸽子飞行时常采用变频率和变振幅模式来操控翅膀扑动与扭转以达到高效飞行的目的。为了给研究扑翼机控制和分配算法提供通用的设计验证平台，建立包含3个控制输入自由度的仿鸽扑翼机动力学模型，并开展开闭环模型有效性验证。考虑机翼运动惯性力和力矩，基于Kane方程建立仿鸽扑翼机的纵向多刚体非线性模型。选择升降舵偏转角、机翼扑动角振幅和机翼扭转角振幅作为控制输入，定义机翼定周期扑动的操纵机制，估算面向控制模型所需的气动导数和操纵导数，建立面向控制的仿鸽扑翼机线性时变周期系统模型。基于Floquet理论对线性时变周期系统模型进行动稳定性分析，结果与开环时域仿真一致。从闭环角度对模型有效性和适应性进行验证，仿真表明，所建模型能有效反映仿鸽扑翼机时变周期动力学特性，并能支撑控制分配方法的设计研究。
- 扑翼飞行器 /
- 多刚体动力学 /
- 线性时变周期系统 /
- 动稳定性 /
- 控制分析
Abstract:
Pigeon usually flaps and twists its wings by changing the frequency or the amplitude to achieve efficient flying. Inspired by this, to provide a generic design and verification platform for the study of flapping-wing aircraft control laws and control allocation algorithms, a dynamic model of a pigeon-like flapping-wing aircraft with three control inputs is established, and then validated through open-loop and closed-loop simulation. Specifically, the longitudinal multi-rigid nonlinear dynamic model of the pigeon-like flapping-wing aircraft is founded based on Kane equation with the inertial forces and moments of the wings considered. The elevator deflection, the varying amplitude of the wing flapping angle and the varying amplitude of the wing torsion angle are selected as the control inputs, and the control mechanism is then given with a fixed wing-flapping time period. The aerodynamic and control derivatives are calculated in a practical way, and the control oriented linear time-varying periodic system model of the pigeon-like flapping-wing aircraft is finally established. The dynamic stability of the linear time-varying periodic system model is then analyzed based on Floquet theory, which indicates the result obtained is consistent with the subsequent open-loop time-domain simulation results. Finally, the closed-loop simulations are performed and show that the model established in this paper can well reflect the time-varying period dynamic characteristics of the pigeon-like flapping-wing aircraft, and lays a foundation for the study of control laws and allocation algorithms on pigeon-like flapping-wing aircraft.
- flapping-wing aircraft /
- multi-rigid-body dynamics /
- linear time-varying periodic system /
- dynamics stability /
- control analysis

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图 1 仿鸽扑翼机概念示意图

Figure 1. Diagram of a pigeon-like flapping-wing aircraft

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图 2 仿鸽扑翼机简化模型

Figure 2. Simplified model of pigeon-like flapping-wing aircraft

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图 3 分时段变振幅扑动序列示意图

Figure 3. Diagram of flapping sequence of time-varying amplitude

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图 4 不同机翼扑动角振幅下气动系数的变化

Figure 4. Variation of aerodynamic coefficients with different amplitudes of flapping-wing angle

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图 5 不同机翼扭转角振幅下气动系数的变化

Figure 5. Variation of aerodynamic coefficients with different amplitudes of wing torsional angle

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图 6 F的特征值变化

Figure 6. Eigenvalues of F

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图 7 控制输入的操纵效能

Figure 7. Control efficiency of inputs

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图 8 升降舵脉冲信号下的开环仿真响应

Figure 8. Open-loop simulation response under elevator pulse signal

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图 9 纵向双通道闭环控制器结构

Figure 9. Structure of longitudinal dual channel closed-loop controller

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图 10 闭环状态量响应

Figure 10. States response of closed-loop system

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图 11 闭环系统操纵响应

Figure 11. Control response of closed-loop system

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表 1 仿鸽扑翼机几何参数

Table 1. Geometry parameters of pigeon-like flapping-wings aircraft

参数	数值
总质量m/g	300
机翼质量占总质量比重/%	6.67
机身长l/m	0.50
机身直径2r/m	0.10
机身质心距机翼前缘距离x_g/m	0.075
机翼展长l₁/m	0.70
机翼机身质心距离l₂/m	0.2
机翼弦长l₃/m	0.15
机翼平均厚度/m	0.01
机翼质心距机翼前缘距离/m	0.075 0
机翼气动中心距机翼前缘距离x_ac/m	0.037 5
单个尾翼长l₄/m	0.01
单个尾翼宽l₅/m	0.01
机翼安装角/rad	0.087 2

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表 2 配平值

Table 2. Trimming values

参数	数值
机体轴x_b方向速度u/(m·s^-1)	9.962 0
机体轴y_b方向速度w/(m·s^-1)	0.870 9
扑翼机飞行迎角α/(m·s^-1)	0.083 2
俯仰角速度q/(rad·s^-1)	0.000 0
俯仰角θ/rad	0.083 2
高度h/m	10.000 0
升降舵偏转角δ_e/rad	0.017 5

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表 3 机翼运动参数

Table 3. Motion parameters of wings

参数	数值
基准扑动角振幅A/rad	0.524
最大扑动角振幅A_max/rad	0.962
最小扑动角振幅A_min/rad	0.086
扑动频率f₁/Hz	10.0
扑动角起始相位φ₁/rad	0
基准扭转角振幅R/rad	0.3
最大扭转角振幅R_max/rad	0.45
最小扭转角振幅R_min/rad	0.15
扭转频率f₂/Hz	10.0
扭转角起始相位φ₂/rad	π/2

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表 4 扑翼机尾容量系数典型值^[22]

Table 4. Typical values of tail capacity coefficient of flapping-wing aircraft^[22]

名称	类型	A_ht	l_ht/c
Delfly(TU Delft)	仿昆虫	0.61	2.7
PY-7C(NPU)	仿鸟	0.33	1.5
PY-7D(NPU)	仿鸟	0.36	1.75
PY-8E(NPU)	仿鸟	0.36	1.80
仿鸽扑翼机	仿鸟	0.37	1.67

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