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More Detailed Disturbance Measurement and Active Disturbance Rejection Altitude Control for a flapping wing Robot Under Internal and External Disturbances

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Journal of Bionic Engineering 2022年第6期19卷 1722-1735页

作者： Jiawang Mou Weiping Zhang Kexin Zheng Yao Wang Chaofeng Wu National Key Laboratory of Science and Technology on Micro/Nano Fabrication Shanghai Jiao Tong University800 Dongchuan RoadShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong University800 Dongchuan RoadShanghai200240China

With the goal of designing a biologically inspired robot that can hold a stable hover under internal and external *** designed a tailless flapping-wing Micro Aerial Vehicle(FMAV)with onboard 3D velocity *** this way,the wind disturbance caused by the relative motion of the FMAV can be quantified in real time based on the established altitudinal dynamics *** the rest of the total disturbance,an active disturbance rejection controller is proposed to estimate and suppress those *** comparison with the traditional PID controller,this proposed approach has been *** results show that,in the hovering flight with the internal unmodeled dynamics,the root-mean-square of height controlled is only 2.53 *** with the different weights of loads mounting on the FMAV,the ascending trajectory of flights remains impressively *** the forward flight with the external disturbance,the root-mean-square error of height controlled is 2.78 *** the FMAV flies over a ladder introducing an abrupt external disturbance,the maximum overshoot is only half of that controlled by the PID *** our best knowledge,this is the first demonstration of FMAVs with the capability of sensing motion-generated wind disturbance onboard and handling the internal and external disturbances in hover flight.

关键词： Bionic robot flapping wing 3D velocity measurement Disturbance estimation and rejection Altitude control

Effects of Chordwise Flexibility on the Aerodynamic Performance of a 3D flapping wing

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Journal of Bionic Engineering 2015年第3期12卷 432-442页

作者： Xin Cheng Shilong Lan Ministry-of-Education Key Laboratory of Fluid Mechanics Beijing University of Aeronautics & Astronautics Beijing China

Previous studies on chordwise flexibility of flexible wings generally relied on simplified two-dimensional （2D） models. In the present study, we constructed a simplified three-dimensional （3D） model and identified the role of the chordwise flexibility in full flapping motion. This paper includes two parts, the first part discusses the aerodynamic effects of the chordwise flexibility in a typical hovering-flight case; the second part introduces a parametric study of four key parameters. The primary findings are as follows. Flexibility generally degrades the lift performance of the flexible wings. However, in two special cases, i.e. when stroke amplitude is low or pitch rotation is delayed, the flexible wings outperform their rigid counterparts in lift generation. Moreover, flexibility reduces the power consumption of the flexible wings. A wing with small flexibility generally achieves a marginally higher flapping efficiency than its rigid counterpart. Furthermore, reducing stroke amplitude can effectively improve the lift performance of the very flexible wings. Aerodynamic performances of the flexible wings are not as sensitive as the rigid wing to phase difference and mid-stroke angle of attaek. The effects of Re are the same for the flexible and rigid wings.

关键词： flapping wing chordwise flexibility aerodynamic performances parametric study

Effects of aspect ratio on flapping wing aerodynamics in animal flight

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Acta Mechanica Sinica 2014年第6期30卷 776-786页

作者： Jun-Jiang Fu Csaba Hefler Hui-He Qiu Wei Shyy Department of Mechanical and Aerospace Engineering The Hong Kong University of Science & Technology

Morphology as well as kinematics is a critical determinant of performance in flapping *** understand the effects of the structural traits on aerodynamics of bioflyers,three rectangular wings with aspect ratios（AR）of1,2,and 4 performing hovering-like sinusoidal kinematics at wingtip based Reynolds number of 5 300 are experimentally *** structures on sectional cuts along the wing span are *** K-H instability is found on the leading edge vortex of wings with higher aspect *** bursting only appears on the outer spanwise locations of high-aspect-ratio *** vortex bursting on high-aspect-ratio wings is perhaps one of the reasons why bio-flyers normally have low-aspect-ratio *** analysis exhibits larger dimensionless circulation of the leading edge vortex（LEV）over higher aspect ratio wings except when vortex bursting *** average dimensionless circulation of AR1 and AR2 along the span almost equals the dimensionless circulation at the 50%*** flow structure and the circulation analysis show that the sinusoidal kinematics suppresses breakdown of the LEV compared with simplified flapping kinematics used in similar *** Reynolds number effect results on AR4 show that in the current Re range,the overall flow structure is not sensitive to Reynolds number.

关键词： Aspect ratio Aerodynamics Leading edge vortex flapping wing

Modeling and flapping vibration suppression of a novel tailless flapping wing micro air vehicle

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Chinese Journal of Aeronautics 2022年第3期35卷 309-328页

作者： Siqi WANG Bifeng SONG Ang CHEN Qiang FU Jin CUI School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China Yangtze River Delta Research Institute of Northwestern Polytechnical University Taicang 215400China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518057China School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China

This paper establishes and analyzes a high-fidelity nonlinear time-periodic dynamic model and the corresponding state observer for flapping vibration suppression of a novel tailless flapping wing Micro Air Vehicle(FWMAV),named ***,a complete modeling of NPU-Tinybird is determined,including the aerodynamic model based on the quasi-steady method,the kinematic and dynamic model about the mechanism of flapping and attitude control,combined with the single rigid body dynamic *** on this,a linearized longitudinal pitch dynamic cycle-averaged model is obtained and analyzed through the methods of neural network fitting and system identification,preparing for the design of flapping vibration suppression *** vibration is an inherent property of the tailless FWMAV,which arises from the influence of time-periodic aerodynamic forces and *** can be captured by attitude and position sensors on the plane,which impairs the flight performance and efficiency of flight controller and *** deal with this problem,a novel state observer for flapping vibration suppression is designed.A robust optimal controller based on the linear quadratic theory is also designed to stabilize the closed-loop *** results are given to verify the performance of the observer,including the closed loop responses combined with robust optimal controller,the comparison of different parameters of observer and the comparison with several classic methods,such as Kalman filter,H-infinity filter and low-pass filter,which prove that the novel observer owns a fairly good suppression effect on flapping vibration and benefits for the improvement of flight performance and control efficiency.

关键词： flapping vibration flapping wing Linear quadratic theory Robust control State observer

Attitude control of flapping wing aircraft based on energy optimization and ESO

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Biomimetic Intelligence & Robotics 2021年第1期1卷 36-41页

作者： Luo Li Hongwei Wang Long Cui State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China

Aiming at the problem of insufficient endurance performance of flapping wing aircraft,a stable attitude control algorithm based on energy optimization and ESO(extended state observer)is designed,which effectively reduces the energy consumption in cruise ***,the longitudinal dynamic model of flapping wing aircraft is established,and then the uncertain part of the system and various unknown external disturbances are taken as the total *** module is introduced to observe and track the total disturbance in real ***,the system is transformed into a series integral system through the total disturbance feedback,and then the energy optimal control law is designed on the base of the transformed *** numerical simulation results show that,compared with the traditional PID control method,the designed energy optimal control method reduces the average energy consumption by 35.28%.

关键词： flapping wing Energy optimal control ESO(Extended State Observer)

Lift system optimization for hover-capable flapping wing micro air vehicle

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Frontiers of Mechanical Engineering 2024年第3期19卷 61-75页

作者： Shengjie XIAO Yongqi SHI Zemin WANG Zhe NI Yuhang ZHENG Huichao DENG Xilun DING Department of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China Shenzhen International Graduate School Tsinghua UniversityShenzhen 518055China

A key challenge is using bionic mechanisms to enhance aerodynamic performance of hover-capable flapping wing micro air vehicle(FWMAV).This paper presented a new lift system with high lift and aerodynamic efficiency,which use a hummingbird as a bionic *** new lift system is able to effectively utilize the high lift mechanism of hummingbirds,and this study innovatively utilizes elastic energy storage elements and installs them at the wing root to help improve aerodynamic performance.A flapping angle of 154°is achieved through the optimization of the flapping mechanism *** optimized wing shape and parameters are obtained through experimental studies on the ***,the max net lift generated is 17.6%of the flapping wing vehicle’s ***,energy is stored and released periodically during the flapping cycle,by imitating the musculoskeletal system at the wing roots of hummingbirds,thereby improving the energy utilization rate of the FWMAV and reducing power consumption by 4.5%under the same ***,strength verification and modal analyses are conducted on the flapping mechanism,and the weight of the flapping mechanism is reduced through the analysis and testing of different *** results show that the lift system can generate a stable lift of 31.98 g with a wingspan of 175 mm,while the lift system weighs only 10.5 g,providing aerodynamic conditions suitable for high maneuverability flight of FWMAVs.

关键词： lift optimization flapping wing elastic energy hovering flapping mechanism

Review on ultra-lightweight flapping-wing nano air vehicles:Artificial muscles,flight control mechanism,and biomimetic wings

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Chinese Journal of Aeronautics 2023年第6期36卷 63-91页

作者： Liang WANG Bifeng SONG Zhongchao SUN Xiaojun YANG School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518057China Yangtze River Delta Research Institute Northwestern Polytechnical UniversityTaicang 215400China

Flying insects are capable of flapping their wings to provide the required power and control forces for flight.A coordinated organizational system including muscles,wings,and control architecture plays a significant role,which provides the sources of inspiration for designing flapping-wing *** recent years,due to the development of micro-and meso-scale manufacturing technologies,advances in components technologies have directly led to a progress of smaller flapping-wing Nano Air Vehicles(FWNAVs)around gram and sub-gram scales,and these air vehicles have gradually acquired insect-like locomotive strategies and *** paper will present a selective review of components technologies for ultra-lightweight flapping-wing nano air vehicles under 3 g,which covers the novel propulsion methods such as artificial muscles,flight control mechanisms,and the design paradigms of the insect-inspired wings,with a special focus on the development of the driving technologies based on artificial muscles and the progress of the biomimetic *** challenges involved in constructing such small flapping-wing air vehicles and recommendations for several possible future directions in terms of component technology enhancements and overall vehicle performance are also discussed in this *** review will provide the essential guidelines and the insights for designing a flapping-wing nano air vehicle with higher performance.

关键词： Actuators Artificial muscle Biomimetic wings flapping wing Flight control mechanism Nano Air Vehicles(NAVs)

Design of a Bio-inspired,Two-winged,flapping-wing Micro Air Vehicle with High-lift Performance

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Journal of Bionic Engineering 2024年第3期21卷 1191-1207页

作者： Kai Hu Huichao Deng Shengjie Xiao Gongyu Yang Yuhong Sun Space Robot Laboratory The School of Mechanical EngineeringBeihang UniversityBeijing100191China

In this paper,we present the development of our latest flapping-wing micro air vehicle(FW-MAV),named Explobird,which features two wings with a wingspan of 195 mm and weighs a mere 25.2 g,enabling it to accomplish vertical take-off and hover *** devised a novel gear-based mechanism for the flapping system to achieve high lift capability and reliability and conducted extensive testing and analysis on the wings to optimise power matching and lift *** Explobird can deliver a peak lift-to-weight ratio of 1.472 and an endurance time of 259 s during hover flight powered by a single-cell LiPo *** the inherent instability of the prototype,we discuss the derivatives of its longitudinal system,underscoring the importance of feedback control,position of the centre of gravity,and increased *** demonstrate the effect of damping enhancement on stability,we also designed a passive stable ***,the vehicle is actively stabilised in roll by adjusting the wing root bars and in pitch through high-authority tail control,whereas yaw is passively *** a series of flight tests,we successfully demonstrate that our prototype can perform vertical take-off and hover flight under wireless *** promising results position the Explobird as a robust vehicle with high lift capability,paving the way towards the use of FW-MAVs for carrying load equipment in multiple tasks.

关键词： flapping wing Biologically inspired robots Mechanical design Flight dynamics Damping enhancement

A Bio-Inspired flapping-wing Robot With Cambered wings and Its Application in Autonomous Airdrop

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2138-2150页

作者： Haifeng Huang Wei He Qiang Fu Xiuyu He Changyin Sun School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China IEEE School of Automation Southeast UniversityNanjing 210096 School of Artificial Intelligence Anhui UniversityHefei 230601China

flapping-wing flight, as the distinctive flight method retained by natural flying creatures, contains profound aerodynamic principles and brings great inspirations and encouragements to drone developers. Though some ingenious flapping-wing robots have been designed during the past two decades, development and application of autonomous flapping-wing robots are less successful and still require further research. Here, we report the development of a servo-driven bird-like flapping-wing robot named USTBird-I and its application in autonomous *** by birds, a camber structure and a dihedral angle adjustment mechanism are introduced into the airfoil design and motion control of the wings, respectively. Computational fluid dynamics simulations and actual flight tests show that this bionic design can significantly improve the gliding performance of the robot, which is beneficial to the execution of the airdrop ***, a vision-based airdrop experiment has been successfully implemented on USTBird-I, which is the first demonstration of a bird-like flapping-wing robot conducting an outdoor airdrop mission.

关键词： Autonomous airdrop bionic design bio-inspired robot cambered wing flapping wing