Miniature double-flapping-wing aircraft capable of realizing autonomous stability augmentation control and control moment generation method thereof

Abstract

The invention discloses a miniature double-flapping-wing aircraft capable of autonomous stability augmentation control and a three-degree-of-freedom control moment generation method thereof. The miniature double-flapping-wing aircraft specifically comprises two identical driving systems, a lifting force system and a control system, the two driving systems are connected through a middle connectingstructure, and the driving systems drive the lifting force system to generate a lifting force; the control system changes the lift system to generate control torque. The aircraft can efficiently generate pitching, rolling and yawing three-axis control torque, estimates aircraft state information through a complementary filtering and Kalman filtering algorithm, and performs autonomous stability augmentation control. The aircraft has the autonomous stability augmentation flight capacity, the yawing performance is improved emphatically, rolling and yawing are controlled only by changing the tension degree of the wing films, gravity center changes unfavorable for control are avoided, and lift force losses in the stability augmentation control process are reduced.

Description

technical field

[0001] The invention relates to the field of micro-aircraft, in particular to a miniature double-flapping-wing aircraft capable of autonomous stability enhancement control and a method for generating control torque thereof. Background technique

[0002] With the continuous innovation of aircraft design concepts and the great progress of microelectronics technology at the end of the last century, micro air vehicles were proposed and developed rapidly. With the characteristics of small size, light weight and strong maneuverability, micro air vehicles are suitable for reconnaissance, exploration and rescue assistance in complex environments, and have broad application prospects. As an important branch of micro-aircraft, the bionic flapping-wing micro-aircraft gradually began to appear with the development of bionics design. The flapping-wing micro-aircraft relies on the reciprocating flapping of the flapping wings to generate lift, and generates control torque ...

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