Centre for Automation and Robotics, Universidad Politécnica de Madrid and CSIC, E-28006 Madrid, Spain.
Bioinspir Biomim. 2013 Mar;8(1):016001. doi: 10.1088/1748-3182/8/1/016001. Epub 2012 Dec 4.
This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by biological evidence about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (ϕ) and pitch (θ) acceleration commands (desired angular acceleration function (DAF)). This novel control approach is aimed at incrementing net body forces (F(net)) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase of about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5 ms⁻¹.
本文提出了一种受蝙蝠变形翼机制启发的新型蝙蝠式无人机。本文的目标有两个。首先，引入了一种建模框架，用于分析机器人如何通过改变机翼形态来进行机动。这允许根据机翼调制的运动学来定义实现前向和转向飞行的要求。其次，提出了一种名为反推+DAF 的姿态控制器。受关于机翼惯性对产生身体加速度影响的生物证据的启发，姿态控制律将机翼惯性信息纳入其中，以产生期望的滚转（ϕ）和俯仰（θ）加速度指令（期望角加速度函数（DAF））。这种新颖的控制方法旨在增加产生推进力的净体力（F(net)）。仿真和风洞实验结果表明，当机翼使用 DAF 作为反推控制律的一部分进行调制时，在机翼拍打周期内净体力的产生增加了约 23%。结果还证实了即使在高达 5 ms⁻¹ 的空速下由空气动力载荷产生的高外部干扰下，也能准确跟踪姿态。
