Multi-freedom imitating-dragonfly ornithopter and control method thereof

Abstract

The invention discloses a multi-freedom imitating-dragonfly ornithopter and a control method thereof. The multi-freedom imitating-dragonfly ornithopter comprises a fuselage, a head, first to fourth wings, a tail, a head steering engine, and a tail steering engine; the fuselage comprises a fuselage frame, first to fourth transmission modules, a cell module and a flight control module, wherein the first to fourth transmission modules, the cell module, and the flight control module are fixed at the fuselage frame, the first to fourth transmission modules comprise flutter motors, bevel gears, primary reduction gears, secondary reduction gears, output gears, crankshafts, rotary tables, rotation handles, two steering engine pull bars, cross rotating disks and adjusting steering engines. While operating, lift resultant force magnitude and direction of four wings are controlled, so that the multi-freedom imitating-dragonfly ornithopter can be suspended and overturned. According to the invention, flight attitude control stability and reliability are high, the structure is compact, the weight is light, and the production and assembling time is shorter.

Description

technical field [0001] The invention relates to the design field of flapping-wing aircraft, in particular to a multi-degree-of-freedom imitation dragonfly flapping-wing aircraft and a control method thereof. Background technique [0002] Dragonfly is one of the most superior flying creatures in nature. It can fly upside down, sideways, vertically, and even glide or hover in the air at will. The dragonfly's special flying ability is attributed to its well-developed wing muscles and air sacs. The wing muscles can quickly fan the wings and adjust the tilt angle. The air sacs are filled with air, which can regulate body temperature and increase buoyancy. Relying on the nervous system to control the tilt angle of the wings, and adapting to the flight speed and atmospheric pressure, it not only generates upward lift, but also generates forward or backward thrust, so as to realize free flight. The wings can vibrate 30 to 50 times per second, and the flight speed can reach 9 meters...

AI Technical Summary

Problems solved by technology

Chinese patents 201710200396.8 and 201710200390.0 propose a design that uses a single motor plus a gear set to control the flapping and rotation of four wings. However, this design only uses one motor to control the rotation of the wings. It will be difficult to realize the transmission mechanism. It will be more complicated, increasing the structural weight and the difficulty of flight attitude control

Chinese patent 201010140927.7 proposes a design scheme for a miniature dragonfly flapping wing aircraft. This invention still uses the tail similar to the fixed-wing horizontal tail and vertical tail to control the flight attitude of the aircraft, which is obviously different from the flight control of dragonflies in nature. The bionic degree not tall

However, for the smaller bionic dragonfly with four motors and four steering gears, the structural design space is small, the production and assembly are very difficult, and the weight of the fuselage is easily overweight, making the aircraft unable to fly at all.

At the same time, the bionic dragonfly is controlled simply by the rotation and flapping of the four wings. At the moment of wing rotation, especially when the wings are rotated asymmetrically, the aircraft is subjected to a large force and is difficult to balance, and it is easy to lose control and fall. The flight control is stable and reliable. not tall

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