The invention discloses a flight control method of a flapping-wing and rotor-wing hybrid insect-imitating aircraft, which comprises six actuators, namely a left flapping-wing power group, a right flapping-wing power group, a head rotor-wing power group, a tail rotor-wing power group, a head vector steering engine and a tail vector steering engine, flight of the flapping wing and rotor wing hybrid power insect-imitating aircraft can be decomposed into four-degree-of-freedom basic movement, namely lifting movement, pitching movement, rolling movement and yawing movement; under the action of motion coupling, pitching motion further affects longitudinal motion in the front-back direction, rolling motion further affects transverse motion in the left-right direction, and control over motion of all freedom degrees of the aircraft is achieved through cooperative control over the six actuators. According to the dual-mode backup redundancy flight control method of the flapping wing and rotor wing hybrid power insect-imitating aircraft, an operator can autonomously select opening and closing of the flapping wings, and it can be guaranteed that the aircraft safely flies and lands under the dangerous condition.

    本发明公开了一种扑翼旋翼混合动力的仿昆虫飞行器的飞行控制方法,包含六个执行器,分别为左扑翼动力组、右扑翼动力组、头旋翼动力组、尾旋翼动力组、头矢量舵机和尾矢量舵机;所述扑翼旋翼混合动力仿昆虫飞行器的飞行可以分解为四个自由度的基本运动:升降运动,俯仰运动,滚转运动,偏航运动;受运动耦合的作用,俯仰运动将进一步影响前后的纵向运动,滚转运动将进一步影响左右的横向运动,通过对六个执行器协同控制,实现飞行器的各个自由度运动的控制。本发明扑翼旋翼混合动力仿昆虫飞行器的双模式备份冗余飞行控制方法,使操作者可以自主选择扑翼的开启与关闭,也可以保障飞行器在危险情况下安全飞行并降落。


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    Title :

    Control method of flapping wing and rotor wing hybrid power insect-imitating aircraft


    Additional title:

    扑翼旋翼混合动力的仿昆虫飞行器的控制方法


    Contributors:
    LI HAOZE (author) / ZHENG XIANGMING (author) / HE HAORAN (author) / ZHANG ZHUOGENG (author)

    Publication date :

    2022-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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