Jeong Seung-Hee, Kim Jeong-Hwan, Choi Seung-Ik, Park Jung-Keun, Kang Tae-Sam
Department of Aerospace Information Engineering, Konkuk University, Seoul 05029, Republic of Korea.
Department of Smart Vehicle Engineering, Konkuk University, Seoul 05029, Republic of Korea.
Biomimetics (Basel). 2022 Dec 23;8(1):6. doi: 10.3390/biomimetics8010006.
In this paper, we propose a platform for an insect-like flapping winged micro aerial vehicle with a resonant wing-driving system using extension springs (FMAVRES). The resonant wing-driving system is constructed using an extension spring instead of the conventional helical or torsion spring. The extension spring can be mounted more easily, compared with a torsion spring. Furthermore, the proposed resonant driving system has better endurance compared with systems with torsion springs. Using a prototype FMAVRES, it was found that torques generated for roll, pitch, and yaw control are linear to control input signals. Considering transient responses, each torque response as an actuator is modelled as a simple first-order system. Roll, pitch, and yaw control commands affect each other. They should be compensated in a closed loop controller design. Total weight of the prototype FMAVRES is 17.92 g while the lift force of it is 21.3 gf with 80% throttle input. Thus, it is expected that the new platform of FMAVRES could be used effectively to develop simple and robust flapping MAVs.
在本文中，我们提出了一种用于类昆虫扑翼微型飞行器的平台，该平台采用带有拉伸弹簧的谐振翼驱动系统（FMAVRES）。谐振翼驱动系统是用拉伸弹簧而非传统的螺旋弹簧或扭转弹簧构建的。与扭转弹簧相比，拉伸弹簧更容易安装。此外，与带有扭转弹簧的系统相比，所提出的谐振驱动系统具有更好的耐久性。使用FMAVRES原型，发现用于滚转、俯仰和偏航控制产生的扭矩与控制输入信号呈线性关系。考虑瞬态响应，将每个作为执行器的扭矩响应建模为一个简单的一阶系统。滚转、俯仰和偏航控制指令相互影响。在闭环控制器设计中应进行补偿。FMAVRES原型的总重量为17.92克，在80%油门输入时其升力为21.3克力。因此，预计FMAVRES的新平台可有效地用于开发简单且坚固的扑翼微型飞行器。
