The invention discloses a method for controlling a flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking. The method comprises the following steps: building a dynamic model of the flexible wing in a three-dimensional space according to the dynamic characteristics of the flexible wing of the flapping-wing flying robot; designing a target trajectory of a wingtip of the flexible wing in a three-dimensional space; and based on the kinetic model and an expected target trajectory, designing a first controller applied to the root of the flexible wing, controlling the flexible wing to perform target trajectory tracking in a three-dimensional space, obtaining boundary values of bending deformation and twisting deformation of the flexible wing, designing a second controller applied to a wingtip and provided with output constraint, and applying acting force to the wingtip in the moving process to restrain elastic deformation of the flexible wing. The flexible wing can be controlled to perform elliptical trajectory motion in the three-dimensional space, vibration of the flexible wing is effectively inhibited under existing constraint conditions, and trajectory tracking accuracy is improved.
本发明公开了一种基于三维轨迹跟踪的扑翼飞行机器人柔性翼的控制方法,包括:根据扑翼飞行机器人柔性翼的动力学特征,在三维空间中建立柔性翼的动力学模型;设计柔性翼的翼梢在三维空间中的目标轨迹;基于动力学模型和期望的目标轨迹,设计施加于柔性翼根部的第一控制器,控制柔性翼进行三维空间的目标轨迹跟踪,同时获取柔性翼的弯曲形变和扭转形变的边界值,设计施加于翼梢的带有输出约束的第二控制器,在运动过程中对翼梢施加作用力,抑制柔性翼的弹性形变。本发明可控制柔性翼在三维空间中进行椭圆轨迹运动,同时在已有的约束条件下有效抑制柔性翼的振动,提高轨迹跟踪准确性。
Method for controlling flexible wing of flapping-wing flying robot based on three-dimensional trajectory tracking
基于三维轨迹跟踪的扑翼飞行机器人柔性翼的控制方法
2021-08-20
Patent
Elektronische Ressource
Chinesisch
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