本发明涉及一种可悬停飞行的扑翼飞行器及其控制方法。该飞行器包括:机架;翅翼,其数量为一对,分别设置在机架两侧;扑动机构,用于调制翅翼单周期扑动角速度,使一对翅翼在单周期内扑动角速度对称;操纵机构,用于翅翼后缘产生调节气动力矩,实现飞行器运动姿态控制。本发明所述的扑翼飞行器通过基于变径滑轮实现扑动机构与基于后缘位置调制的操纵机构及操纵方法,突破了现有的采用连杆扑动机构的仿生扑翼飞行器无法实现翅翼在运动周期内对称扑动的局限性,以及传统操纵机构需要复杂的结构或大幅改变机身形态方可实现控制产生力矩的局限性,为仿生扑翼飞行器的设计及控制提供了新思路。
The invention relates to an ornithopter capable of flying in a hovering mode and a control method of the ornithopter. The aircraft comprises a frame; the wings are arranged on the two sides of the rack respectively; the flapping mechanism is used for modulating the flapping angular velocity of the wings in a single period, so that the flapping angular velocities of the wings in the single period are symmetrical; and the control mechanism is used for generating an adjusting aerodynamic torque at the rear edge of the wing to control the motion attitude of the aircraft. According to the flapping-wing air vehicle, through the flapping mechanism based on the variable-diameter pulleys and the control mechanism and control method based on trailing edge position modulation, the limitation that an existing bionic flapping-wing air vehicle adopting a connecting rod flapping mechanism cannot achieve symmetrical flapping of wings in a motion period is broken through; and the limitation that a traditional control mechanism needs a complex structure or the shape of a fuselage is greatly changed to control and generate torque is overcome, and a new thought is provided for design and control of the bionic flapping-wing aircraft.
一种可悬停飞行的扑翼飞行器及其控制方法
2024-03-29
Patent
Electronic Resource
Chinese