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Position tracking control method for miniature ornithopter capable of avoiding singular state

A flapping wing aircraft and tracking control technology, applied in the field of aircraft control, can solve problems such as control system crashes and singular points

Active Publication Date: 2020-06-05
LANZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the past, the position tracking control algorithm of the micro-flapping wing aircraft often involved the process of matrix inversion when solving the solution. In the process of matrix inversion, singular points are very likely to appear, resulting in the collapse of the control system.

Method used

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  • Position tracking control method for miniature ornithopter capable of avoiding singular state
  • Position tracking control method for miniature ornithopter capable of avoiding singular state
  • Position tracking control method for miniature ornithopter capable of avoiding singular state

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] figure 2 A simplified model of a micro-orthopting-wing aircraft, including a front view and a side view. Based on the quasi-steady-state theory, the three common aerodynamic mechanisms of flapping-wing aircraft are delayed speed, rotational lift and additional mass. In the study of micro-flapping-wing pose control, the effects of rotational lift and additional mass are ignored. The relative direction of the micro flapping wing aircraft is determined by the body coordinate system (X B ,X B ,Z B ) determines that the center of the body coordinate system is at the center of gravity of the flapping-wing aircraft. The direction of motion of the flapping-wing aircraft is represented by Euler angles, which are roll angle, pitch angle, and yaw angle, namely q r =[θ 1 θ 2 θ 3 ] T , which is a known quantity in position control, and the absolute position of t...

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Abstract

The invention provides a position tracking control method for a miniature ornithopter capable of avoiding singular state. The method comprises the following steps: 1) giving a Lagrange type kinetic equation for position control of the miniature ornithopter; 2) in combination with the Lagrange type kinetic equation of the miniature ornithopter given in the step 1), establishing a mathematical modelof position control related to time-varying matrix inversion operation; and 3) in combination with the step 2), designing a position controller capable of avoiding the time-varying matrix inversion problem in the step 2), designing a solver, and defining an error function to monitor the solving process in real time. The method skillfully avoids the time-varying matrix inversion operation in the algorithm solving process, and reduces the calculation complexity.

Description

technical field [0001] The invention relates to the field of aircraft control, in particular to a position tracking control method for a miniature flapping-wing aircraft that can avoid singular states. Background technique [0002] The flapping-wing aircraft is a bionic aircraft that imitates the flight of birds or insects. It integrates the functions of lifting, hovering and propulsion. Relying on the flying mode of the flapping wings, it can quickly and effectively change the position and attitude of the flapping-wing aircraft. Compared with fixed-wing and rotary-wing aircraft, flapping-wing aircraft has strong maneuverability and flexibility, and has low energy consumption, low noise, and light weight. It can complete tasks that other types of aircraft cannot complete. It has broad application prospects. The research results of bionics and aerodynamics show that in terms of miniaturization (when the wingspan is less than 15cm), flapping-wing flight has more advantages th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02T90/00
Inventor 金龙常振强刘梅李帅杜秀娟
Owner LANZHOU UNIVERSITY
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