Flight test system for flapping-wing flying robot

[0050] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below in conjunction with the drawings and specific embodiments.

[0051] See Figure 1 to Figure 5 This embodiment provides a flight test system for a flapping-wing flying robot, which aims to simulate the flight state of a flapping-wing flying robot and to facilitate the measurement of dynamic characteristics during flight. It is suitable for the technical field of flapping-wing flying robots. On the one hand, the prototype of the flapping-wing flying robot can be installed on the measuring mechanism, and the aerodynamic characteristics of the flapping-wing flying robot under simulated flight conditions can be collected in a wind tunnel environment with the ATI six-dimensional force sensor; On the one hand, in the outdoor flight test of the flapping-wing flying robot, the attitude information and position information can be transmitted back to the host computer through wireless communication for output display, and compared with the data obtained by the simulation calculation of the given mathematical model, which can play a role in model operation. The role of validity verification.

[0052] Specifically, the flight test system of this embodiment includes two parts: a software platform and a hardware platform; among them,

[0053] The hardware platform of this embodiment includes a measuring mechanism and wind tunnel equipment; among them, the measuring mechanism is used to install the flapping-wing flying robot prototype 1 to be tested; during the test, after the flapping-wing flying robot prototype 1 is installed on the measuring mechanism, the measuring mechanism Both are placed in the wind tunnel equipment together with the flapping-wing flying robot prototype 1.

[0054] The flapping-wing flying robot prototype 1 used in this embodiment has three degrees of freedom, and is controlled by a remote control sending control signals. The control signals f, θ t ,φ t The flapping frequency of the wings 1B, the flapping angle of the tail 1C and the twisting angle of the tail 1C of the flapping-wing flying robot prototype 1 are respectively controlled, and the positive direction of rotation is determined by the left hand system.

[0055] Such as image 3 As shown, the measuring mechanism of this embodiment includes an attitude angle controller, an airflow angle controller, a multidimensional force sensor 7 and a tripod 19; wherein the airflow angle controller is installed on the tripod 19, and the attitude angle controller and the airflow angle control The flapping-wing flying robot prototype 1 is detachably connected to the attitude angle controller through the first connecting piece 2. The attitude angle controller is used to control the attitude angle of the flapping-wing flying robot prototype 1; the airflow angle controller is used to control the flapping-wing flying robot The airflow angle of the prototype 1; the tripod 19 is fixed on the ground, so that the movement range of the flapping-wing flying robot prototype 1 is within the effective test range of the wind tunnel.

[0056] Further, the aforementioned attitude angle controller includes a pitch angle control motor 3, a yaw angle control motor 5, and a roll angle control motor 9; wherein,

[0057] The pitch angle control motor 3 is fixed on the second connecting piece 4. The first connecting piece 2 is connected with the output shaft of the pitch angle control motor 3. The pitch angle control motor 3 controls the rotation of the first connecting piece 2 through its output shaft, and flapping wings fly The housing 1A of the robot prototype 1 is mounted on the first connecting piece 2, and its center of mass is located directly above the first connecting piece 2. By controlling the pitch angle to control the rotation angle of the motor 3, the flapping-wing flying robot prototype 1 can be pitched Angle control;

[0058] The yaw angle control motor 5 is fixed on the third connecting piece 6, and the second connecting piece 4 is connected with the output shaft of the yaw angle control motor 5. The second connecting piece 4 is controlled to rotate through the output shaft, and the motor is controlled by controlling the yaw angle The turning angle of 5 can realize the control of the yaw angle of the flapping-wing flying robot prototype 1;

[0059] The yaw angle control motor 5 is connected to the output shaft of the roll angle control motor 9 through the first connecting rod 8, and the output shaft of the roll angle control motor 9 is connected to the connecting end 8D of the first connecting rod 8 to control the first connecting rod 8. Rotation; the roll angle control motor 9 is fixed in the second fixed sleeve 10A of the second connecting rod 10, connected to the airflow angle controller through the second connecting rod 10, and the rotation angle of the control motor 9 can be achieved by controlling the roll angle Control of the roll angle of the flapping-wing flying robot prototype 1.

[0060] The above-mentioned multi-dimensional force sensor 7 is fixed in the first fixed sleeve 8A of the first connecting rod 8, and the above-mentioned yaw angle control motor 5 is fixed on the multi-dimensional force sensor 7 through the third connecting member 6; specifically, in this embodiment , The multi-dimensional force sensor 7 is an ATI six-dimensional force sensor.

[0061] Further, the first connecting rod 8 includes a straight rod portion 8B and an arc portion 8C; wherein one end of the arc portion 8C is connected to the output shaft of the roll angle control motor 9, and the arc radius of the arc portion 8C is larger than The maximum distance from the center of mass of the wing flying robot prototype 1 to the end of its tail 1C, so that the flapping wing flying robot prototype 1 is not blocked during the rotation.

[0062] The aforementioned airflow angle controller includes an angle of attack control steering gear 14 and a sideslip angle control motor 18;

[0063] The angle of attack control steering gear 14 is fixed on the rotating turntable 15. The output gear of the angle of attack control steering gear 14 is connected with the first U-shaped steering gear arm 13B, the first U-shaped steering gear arm 13B and the second U-shaped steering gear arm 13A Connected, the second U-shaped steering gear arm 13A is connected to the fourth connecting piece 11, the second connecting rod 10 is inserted into the first through hole 11A of the fourth connecting piece 11, and the second through hole at the end of the second connecting rod 10 10B and the first through hole 11A are fixed by fixing bolts 12, and the angle of attack of the flapping-wing flying robot prototype 1 can be controlled by controlling the angle of attack of the steering gear 14;

[0064] The sideslip angle control motor 18 is fixed on the fifth connecting member 17, and its output shaft is fixedly connected with the first gear of the reduction gear set 16, the second gear of the reduction gear set 16 is fixedly connected with the rotating turntable 15, the rotating turntable 15, the reduction gear set The 16 and the fifth connecting member 17 are fixed on the tripod support 19 via a fixed shaft, and the sideslip angle of the flapping-wing flying robot prototype 1 can be controlled by controlling the sideslip angle to control the rotation angle of the motor 18.

[0065] Preferably, the first connecting rod 8 and the second connecting rod 10 of this embodiment use hollow aluminum alloy materials, which have the characteristics of light weight, high rigidity, low price and easy processing. The pitch angle control motor 3, the yaw angle control motor 5, the torsion angle control motor 9, and the sideslip angle control motor 18 of this embodiment should preferably adopt a stepper motor or a servo motor to ensure control accuracy.

[0066] The software platform of this embodiment is the software running on the upper computer platform, wherein the upper computer platform is in communication connection with the measuring mechanism and the wind tunnel equipment, and is used to control the wind speed of the wind tunnel equipment during the test and display the flapping-wing flying robot prototype in real time. Flight status. Preferably, in this embodiment, the measurement mechanism and the host computer platform communicate with each other in a wireless communication manner, so as to avoid measurement errors and line winding problems caused by line pulling on the measurement mechanism. The software platform includes five parts: dynamics simulation module, data decoding module, wind speed adjustment module, data processing module and display module; among them,

[0067] The dynamics simulation module is used to calculate the flight data of the flapping-wing flying robot prototype 1 at the next moment according to the mathematical model corresponding to the flapping-wing flying robot prototype 1 and the remote control control signal, and send the flight data to the data processing module, display module and measurement Mechanism, which controls the three-dimensional movement of the virtual simulation object of the flapping-wing flying robot prototype 1 and demonstrates it on the display module; wherein the flight data includes attitude information, position information and speed information;

[0068] The data decoding module is used to receive the three-axis aerodynamic force and aerodynamic torque data of the flapping-wing flying robot prototype 1 collected by the multidimensional force sensor 7, or used to receive the attitude information and position information of the flapping-wing flying robot prototype 1, and to receive the data Send to the display module after decoding;

[0069] The wind speed adjustment module is used to send the calculated wind tunnel wind speed to the wind tunnel equipment, so that the wind tunnel wind speed is consistent with the flight speed in the simulation;

[0070] The data processing module is used to further calculate the airflow angle of the flapping-wing flying robot prototype 1 based on the attitude information and position information calculated by the dynamics simulation module;

[0071] The display module is used to display the posture, position and dynamic data collected by the multidimensional force sensor 7 during the simulated flight.

[0072] During the simulated flight test, the user passed such as figure 1 The display interface shown performs corresponding operations to realize the interaction between the user and the computer. Among them, the function navigation bar 101 is a function control, which performs operations such as loading models, loading algorithms, posture display, trajectory display, data saving, and switching control modes. The vertical navigation bar is divided into three parts, mainly used as display controls. The data navigation bar 102 displays the current attitude angle, lift, thrust, track angle, and flapping wing frequency of the flapping-wing flying robot model; the curved navigation bar 103 is used to display the flight status and dynamics data, and you can choose to display the flapping-wing flying robot simulation object Three-axis attitude curve or position curve or three-axis mechanical curve or three-axis moment curve of a flapping-wing flying robot prototype. The instrument navigation bar 104 displays the flight speed and altitude changes. The trajectory navigation bar 105 observes the flying trajectory of the flapping-wing flying robot from a top-down perspective. The flapping-wing flying robot 106 is a three-dimensional simulation model constructed based on the entity of the flapping-wing flying robot, which can realize three-degree-of-freedom deflection, flying, and changing the flapping wing frequency, and is the main observation body of the host computer interface. The following wake 107 is the trajectory generated during the entire movement of the flapping-wing flying robot, which provides convenience for studying its movement law.

[0073] Among them, the software platform upper computer operation process is as follows figure 2 As shown, the specific steps are as follows:

[0074] (1) Set the unity working environment and complete the initialization process.

[0075] (2) Load the simulation model. The simulation model includes the physical model of the simulated flapping-wing flying robot and the simulation environment scene model.

[0076] (3) Call the C# script, and calculate the real-time posture and track information of the flapping-wing flying robot from the mathematical model.

[0077] (4) Call the C# script to read the serial port buffer data. Specifically, if the host computer software works in the simulated flight test mode, the DataReceive function is used to read the aerodynamic characteristic data (three-axis force and three-axis torque information) of the flapping-wing flying robot prototype sent back by the ATI six-dimensional force sensor in the buffer; If the host computer works in the operational validity verification mode, the DataReceive function is used to read the flight data (posture and position information) on the flapping-wing flying robot prototype in the buffer.

[0078] (5) If the host computer is working in simulated flight test mode, it will send the calculated attitude data and airflow angle data to the corresponding controller of the measuring mechanism. Call the C# script to draw the flapping-wing flying robot's attitude curve, position curve, three-axis force and moment curve, and complete the dynamic characteristics measurement of the flapping-wing flying robot in the simulated flight state.

[0079] (6) If the host computer works in the operational validity verification mode, two flapping-wing flying robot models are generated, one is a virtual object based on a mathematical model, and the other is a virtual mapping based on a physical prototype. Call the C# script to draw the attitude curve and position curve of the two flapping-wing flying robots, and verify the validity of the given mathematical model through comparative analysis.

[0080] (7) Refresh the data in the serial port buffer regularly and return to step (3) to realize real-time data interaction.

[0081] (8) Program exit to release resources

[0082] It should be noted here that the sequence number here does not represent the order of execution, and step (5) and step (6) should be executed simultaneously.

[0083] Based on the above flight test system, this embodiment provides a simulation flight test method for a flapping-wing flying robot, such as Figure 4 , The specific steps are as follows:

[0084] (1) Start the host computer software and wind tunnel equipment, select the loading model control in the navigation bar 101 of the display interface to load the 3D model of the flapping-wing flying robot, and load its corresponding mathematical model into the dynamics simulation module.

[0085] (2) Adjust the wind speed and airflow angle of the wind tunnel, and the initial attitude of the flapping-wing flying robot prototype 1 is consistent with the software platform.

[0086] (3) Use the remote control to send control signals to the software platform simulation flapping-wing flying robot and the flapping-wing flying robot prototype 1, and the flapping-wing flying robot prototype 1 receives the control signals to perform corresponding actions, such as adjusting the flapping frequency f or/and tail Flap angle θ t Or/and tail torsion angle φ t.

[0087] (4) The dynamic simulation module calculates the attitude (θ, φ, ψ), position information (x, y, z) and speed V of the flapping-wing flying robot at the next moment according to the control signal and the current flight state, and displays it in real time in three dimensions. On the host computer display interface.

[0088] (5) Send the calculated attitude angle to the attitude angle controller of the measuring mechanism, and control the pitch angle of the measuring mechanism to control the motor to rotate θ degrees, the yaw angle to control the motor to rotate ψ degrees, and the torsion angle to control the motor to rotate φ degrees.

[0089] (6) Based on the calculated attitude angles θ and ψ and track angles γ and χ of the flapping-wing flying robot, the airflow angle α=θ-γ and β=ψ-χ, where α is the angle of attack and β is the side Slip angle. Send it to the airflow angle controller, control the angle of attack of the measuring mechanism to control the rotation of the steering gear by -α degrees, and control the sideslip angle to control the rotation of the motor by -β×s degrees, where s is the reduction gear ratio of the reduction gear set.

[0090] (7) The calculated speed V is sent to the wind tunnel equipment through the wind speed control module, and the wind speed of the wind tunnel is controlled to be consistent with the simulation speed.

[0091] (8) Measure the three-axis aerodynamic force and aerodynamic torque data of the flapping-wing flying robot in the simulated flight environment through the ATI six-dimensional force sensor on the measuring mechanism, and transmit it to the upper computer data decoding module in real time.

[0092] (9) The data decoding module decodes the collected data and sends it to the display interface. By selecting different function controls in the function navigation bar 101 of the display interface, the posture, trajectory and dynamic characteristic curve data can be viewed.

[0093] Optionally, the dynamic characteristic curve of the flapping-wing flying robot prototype under automatic flight control can be measured by selecting the loading algorithm control in the navigation bar 101 of the display interface function. Switching between automatic control mode and manual control mode can be realized by selecting the switch control mode control in the function navigation bar 101 of the display interface.

[0094] On the other hand, based on the above flight test system, this embodiment also provides a method for verifying the operational validity of a flapping-wing flying robot model. The operational validity verification method refers to comparing the simulation system with the actual system under the same initial conditions and The output data under the input is used to quantitatively analyze the validity of the model. Combine Figure 5 As shown, the specific steps are as follows:

[0095] (1) Start the simulation and load the simulation environment.

[0096] (2) Put the flapping-wing flying robot prototype in a no-wind environment, turn on the wireless communication receiving module of the host computer, and collect the flight data sent back by the flapping-wing flying robot in real time, including attitude data, position/speed, etc.

[0097] (3) Generate two flapping-wing flying robot models on the host computer display interface, one of which is used as a simulation object to load a custom mathematical model, and the other is used as a virtual map of the real flapping-wing flying robot to receive flight data.

[0098] (4) Initialize the control motion states of the two flapping-wing flying robots with the currently received flying data of the flapping-wing flying robot prototype.

[0099] (5) The remote control sends out a control signal (f, θ t ,φ t ), simultaneously control the physical flapping-wing flying robot prototype and the virtual simulation object, where the virtual simulation object performs corresponding actions according to the control signal, and calculates the next moment posture information (θ, φ, ψ) and the dynamic simulation module according to the mathematical model Position information (x, y, z); the flapping-wing flying robot prototype performs corresponding actions according to the remote control signal, and sends back real-time attitude information (θ', φ', ψ') and position information (x', y', z) ').

[0100] (6) Assign the posture and position information calculated by the dynamics simulation module to the flapping-wing flying robot simulation object, and assign the received flapping-wing flying robot prototype flight data to the flapping-wing flying robot virtual map.

[0101] (7) Update the display interface animation, and display the flight data on the corresponding positions of the data navigation bar 102, the curve navigation bar 103, the instrument navigation bar 104, and the trajectory navigation bar 105, and draw the flight wake 107 respectively.

[0102] (8) Set the error threshold, compare the size of the trajectory error of the attitude and position and the error threshold, if the actual error is less than the error threshold, the model is considered valid.

[0103] Preferably, the position/speed information can be provided by GPS/INS sensors, and the attitude information can be provided by JY901 sensors.

[0104] In summary, this embodiment provides a simulated flight test environment for the flapping-wing flying robot, which can obtain the dynamic characteristics data of the flapping-wing flying robot in flight, which can replace the flight test to a certain extent, which improves the test efficiency and reduces Prototype damage rate. The host computer platform provides an intuitive three-dimensional display for the posture reconstruction process of the flapping-wing flying robot. Users can combine the prototype of the flapping-wing flying robot, wind tunnel equipment and measurement mechanism to complete the verification of the mathematical model. In addition to the above-mentioned mathematical model of the flapping-wing flying robot, users can also use self-built mathematical models to import the upper computer platform for verification and testing. In addition, users can load the designed flight control algorithm onto the simulation model to verify the effectiveness of the algorithm.

[0105] In addition, it should be noted that those skilled in the art should understand that the embodiments of the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes.

[0106] The embodiments of the present invention are described with reference to the flowcharts and/or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, embedded processor or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device are generated for Realize in the process Figure one Process or multiple processes and/or boxes Figure one A device with functions specified in a block or multiple blocks.

[0107] These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The instruction device is implemented in the process Figure one Process or multiple processes and/or boxes Figure one Function specified in a box or multiple boxes. These computer program instructions can also be loaded on a computer or other programmable data processing terminal equipment, so that a series of operation steps are executed on the computer or other programmable terminal equipment to produce computer-implemented processing, so that the computer or other programmable terminal equipment The instructions executed on the Figure one Process or multiple processes and/or boxes Figure one Steps of functions specified in a box or multiple boxes.

[0108] It should also be noted that in this article, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those Elements, but also include other elements that are not explicitly listed, or elements inherent to this process, method, article, or terminal device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article or terminal device that includes the element.

[0109] Finally, it should be noted that the above are the preferred embodiments of the present invention. It should be pointed out that although the preferred embodiments of the present invention have been described, for those of ordinary skill in the art, once they know the basic inventive step of the present invention Concept, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.