汪婷婷, 何修宇, 邹尧, 付强, 贺威. 面向扑翼飞行机器人的飞行控制研究进展综述[J]. 工程科学学报, 2023, 45(10): 1630-1640. DOI: 10.13374/j.issn2095-9389.2022.12.24.001
引用本文: 汪婷婷, 何修宇, 邹尧, 付强, 贺威. 面向扑翼飞行机器人的飞行控制研究进展综述[J]. 工程科学学报, 2023, 45(10): 1630-1640. DOI: 10.13374/j.issn2095-9389.2022.12.24.001
WANG Tingting, HE Xiuyu, ZOU Yao, FU Qiang, HE Wei. Research progress on the flight control of flapping-wing aerial vehicles[J]. Chinese Journal of Engineering, 2023, 45(10): 1630-1640. DOI: 10.13374/j.issn2095-9389.2022.12.24.001
Citation: WANG Tingting, HE Xiuyu, ZOU Yao, FU Qiang, HE Wei. Research progress on the flight control of flapping-wing aerial vehicles[J]. Chinese Journal of Engineering, 2023, 45(10): 1630-1640. DOI: 10.13374/j.issn2095-9389.2022.12.24.001

面向扑翼飞行机器人的飞行控制研究进展综述

Research progress on the flight control of flapping-wing aerial vehicles

  • 摘要: 近十年来,研究人员从飞行生物的飞行机理着手分析,对扑翼飞行机器人的姿态控制、位置控制设计以及系统稳定性分析展开了深入研究,基于鲁棒控制、神经网络等技术,提出了诸多控制方法实现扑翼飞行机器人的自主飞行,其中,姿态控制通过自适应等控制器并结合线性化方法来实现,位置控制则通过搭建层级架构的控制器等方法来完成,并通过设计扰动观测器等来处理系统的不确定性,以提高系统稳定性能。通过对相关研究工作进行总结,可以看出目前扑翼飞行机器人的飞行控制研究仍大多处于理论阶段,还需要进一步结合工程应用中的实际需求,推进扑翼飞行机器人的应用与推广。最后,探讨了扑翼飞行机器人飞行控制未来的研究方向。

     

    Abstract: In nature, flying creatures flap their wings to generate lift, which is necessary for flight. Most birds change flight patterns by moving their wings using their wing muscles and adjusting their tail states. Insects, which are without tails, can achieve maneuverable flight using their chest and abdomen muscles and other structures such as hind wings. Owing to high mobility and high energy efficiency, researchers have developed various flapping-wing aerial vehicles according to the bionic principle to improve flight performance. However, a flapping-wing aerial vehicle is a nonlinear and time-variable system. The low Reynolds number and unsteady eddy are important characteristics of the flapping-wing aerial vehicle, and the values are different from those of traditional aircraft. The Reynolds number of the traditional aircraft is larger; thus, the air viscosity is small enough to be ignored. However, the air viscosity of the bionic flapping-wing aerial vehicle is high at low Reynolds number conditions. Adopting a conventional aerodynamic configuration will result in insufficient lift. In addition, the traditional aerodynamics theory cannot explain the high lift of the flapping-wing aerial vehicles, and the mature technologies in traditional aircraft design cannot be directly applied owing to the low Reynolds number. Owing to the periodic movement of the flapping wing, it is difficult for researchers to accurately analyze the aerodynamic model. The autonomous flight of a flapping-wing aerial vehicle is limited by several challenges. To solve this problem, researchers have studied the flight principle of birds and insects. Moreover, the attitude control, position control, and stability analysis of flapping-wing aerial vehicles have been studied. Several control strategies based on robust control, neural networks, and other methods have been proposed to realize the autonomous flight of flapping-wing aerial vehicles. Researchers have also adopted control methods such as adaptive controllers combined with linearization techniques to control attitude. Position control has been achieved using a hierarchical controller and other approaches. In addition, perturbation observation is used to deal with the uncertainty of the system to improve stability. In this paper, the flight control strategies of flapping-wing aerial vehicles of different scales are reviewed. The current research on the flight control of the flapping-wing aerial vehicle is mostly in the prototype phase. Most of these theories have not been verified in actual flight. Therefore, the flight control theory needs to be combined with actual missions to promote the application of the flapping-wing aerial vehicle. Finally, the future trend of the flight control of the flapping-wing aerial vehicle is highlighted.

     

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