The invention provides an active wing twisting device of a flapping-wing air vehicle and a control method of the active wing twisting device. The active wing twisting device is arranged on a wing of the ornithopter and used for adjusting aerodynamic force generated by the ornithopter system by changing the shape of the wing of the ornithopter in the flying process. According to a control method based on an expansion observer, aircraft pitch attitude disturbance caused by unsteady aerodynamic force of a flapping wing system is estimated, the disturbance is compensated by a wing active torsion device and an empennage elevator together, and attitude control is completed. According to the technical scheme, the attitude oscillation amplitude caused by aerodynamic force fluctuation in the attitude control process of the ornithopter can be reduced, the attitude control difficulty is effectively reduced, the deflection amplitude of a conventional pneumatic control surface can be reduced, and the control efficiency is improved.

    本发明提供了一种扑翼飞行器的机翼主动扭转装置及其控制方法。机翼主动扭转装置安置于扑翼飞行器机翼上,用于在飞行过程中通过改变飞行器的机翼形状从而调整扑翼系统产生的气动力。根据基于扩张观测器的控制方法,由于扑翼系统非定常气动力导致的飞行器俯仰姿态扰动得以估计,该扰动由机翼主动扭转装置和尾翼升降舵共同补偿并完成姿态控制。本发明的技术方案能够使扑翼飞行器的姿态控制过程中由于气动力波动而造成的姿态振荡幅度减小,有效减少了姿态控制的难度,而且能使常规气动控制舵面的偏转幅度减小,提高了控制效率。


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    Title :

    Active wing twisting device of ornithopter and control method of active wing twisting device


    Additional title:

    扑翼飞行器的机翼主动扭转装置及其控制方法


    Contributors:
    WU CHENGSHEN (author) / ZHENG XIANGMING (author) / XIE YUJIE (author) / HU JINHAO (author) / LU KAIJIE (author) / LI PENGFEI (author)

    Publication date :

    2024-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge



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