Zhang Yichen, Xiao Yiming, Guo Qingcheng, Cui Feng, Zhao Jiaxin, Wu Guangping, Wu Chaofeng, Liu Wu
National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China.
Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Biomimetics (Basel). 2024 Jul 24;9(8):449. doi: 10.3390/biomimetics9080449.
This study aimed to enhance the stability and response speed of a passive stabilized double-wing flapping micro air vehicle (FMAV) by implementing a feedback-controlled biomimetic tail. A model for flapping wings accurately calculated the lift force with only a 2.4% error compared to the experimental data. Experimental tests established the relationship between control torque and tail area, swing angle, and wing-tail spacing. A stability model for the double-wing FMAV was developed, incorporating stabilizing sails. Linearization of the hovering state facilitated the design of a simulation controller to improve response speed. By adjusting the feedback loops of velocity, angle, and angular velocity, the tail controller reduced the angle simulation response time from 4 s to 0.1 s and the velocity response time from 5.64 s to 0.1 s. In take-off experiments, a passive stabilized prototype with an adjustable tail angle exhibited enhanced flight stability compared to fixed tails, reducing standard deviation by 72.96% at a 0° take-off angle and 56.85% at a 5° take-off angle. The control axis standard deviation decreased by 38.06% compared to the passive stability axis, confirming the effectiveness of the designed tail angle controller in reducing angular deflection and improving flight stability.
本研究旨在通过实施反馈控制的仿生尾翼来提高被动稳定双翼扑翼微型飞行器（FMAV）的稳定性和响应速度。一个扑翼模型精确计算出升力，与实验数据相比误差仅为2.4%。实验测试确定了控制扭矩与尾翼面积、摆动角度和翼尾间距之间的关系。开发了一种包含稳定帆的双翼FMAV稳定性模型。悬停状态的线性化有助于设计模拟控制器以提高响应速度。通过调整速度、角度和角速度的反馈回路，尾翼控制器将角度模拟响应时间从4秒缩短至0.1秒，速度响应时间从5.64秒缩短至0.1秒。在起飞实验中，与固定尾翼相比，具有可调节尾翼角度的被动稳定原型机表现出更高的飞行稳定性，在0°起飞角度时标准偏差降低了72.96%，在5°起飞角度时降低了56.85%。与被动稳定轴相比，控制轴标准偏差降低了38.06%，证实了所设计的尾翼角度控制器在减少角偏转和提高飞行稳定性方面的有效性。
