| 微型拍翅式飞行机器人平飞位置控制的研究 |
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| 引用本文： | 周建华,朱兴龙,金晓怡,于冰.微型拍翅式飞行机器人平飞位置控制的研究[J].扬州大学学报(自然科学版),2006,9(3):51-54. |
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| 作者姓名： | 周建华 朱兴龙 金晓怡 于冰 |
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| 作者单位： | 1. 扬州大学,机械工程学院,江苏,扬州,225009
2. 东南大学,机械工程系,南京,210096 |
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| 基金项目： | 扬州大学自然科学基金资助项目(JK0513105) |
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| 摘 要： | 对微型拍翅式飞行机器人平飞飞行的位置控制,提出了一个基于平均气动力的控制方案,在每个拍动周期结束后,根据位置的状态反馈误差调整参数.通过改变翅的拍动倾斜角和拍动频率来获得所需的平均气动力.在飞行机器人进行水平飞行和垂直飞行时,对控制系统进行解耦.最后对控制系统进行仿真,仿真结果表明该系统具有鲁棒性.
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| 关 键 词： | 拍翅飞行 机器人 控制系统 位置控制 |
| 文章编号： | 1007-824X（2006）03-0051-04 |
| 收稿时间： | 2005-09-26 |
| 修稿时间： | 2005-09-26 |
Study on position control of horizontal flight for micro flying robot with flapping wings |
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| ZHOU Jian-hua,ZHU Xing-long,JIN Xiao-yi,YU Bing.Study on position control of horizontal flight for micro flying robot with flapping wings[J].Journal of Yangzhou University(Natural Science Edition),2006,9(3):51-54. |
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| Authors: | ZHOU Jian-hua ZHU Xing-long JIN Xiao-yi YU Bing |
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| Institution: | 1. Coll of Meeh Engin, Yangzhou Univ, Yangzhou 225009, China; 2. Dept of Meeh Engin, Southeast Univ, Nanjing 210096, China |
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| Abstract: | For position control on horizontal flight of micro flying robot with flapping wings,a method based on average forces is proposed.At the end of each wingbeat,the controller adjusts the desired parameters according to state feedback errors.The motion of wing is parameterized by incline angle and flapping frequency which is sufficient to generate desired average forces to regulate its position.The position control system is decoupled under horizontal and vertical flight.The simulating results show robust stabilization for the position control system. |
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| Keywords: | flapping fly robot control system position control |
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