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Method for controlling flexible wing of flapping-wing flying robot based on three-dimensional trajectory tracking
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A flying robot and three-dimensional trajectory technology, applied in three-dimensional position/course control, aircraft, non-electric variable control, etc.
Active Publication Date: 2021-08-20
UNIV OF SCI & TECH BEIJING
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[0006] The invention provides a method for controlling the flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking to solve the technical problem that the existing method for controlling the flexible wing of a flapping-wing flying robot in two-dimensional space cannot meet higher requirements
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no. 1 example
[0064] This embodiment provides a method for controlling a flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking. The method can be implemented by an electronic device. The execution process of the method is as follows: figure 1 shown, including:
[0065] S101, establishing a dynamic model of the flexible wing in a three-dimensional space according to the dynamic characteristics of the flexible wing of the flapping flying robot to be controlled;
[0066] S102, design the target trajectory of the flexible wing tip in the three-dimensional space;
[0067] S103, based on the dynamic model and the desired target trajectory, design a first controller applied to the root of the flexible wing, control the flexible wing to track the target trajectory in three-dimensional space, and obtain the boundary values of the bending deformation and torsional deformation of the flexible wing, design A second controller with an output constraint applied t...
no. 2 example
[0070] This embodiment provides a control method for the flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking. First, in order to better understand this embodiment, some symbols appearing in this article are first explained:
[0071] , , , , ,
[0072]
[0073] in, represents the function to be differentiated; in this paper, express variation of .
[0074] The execution flow of the control method of this embodiment is as follows figure 2 shown, including:
[0075] S101 , establishing a dynamic model of the flexible wing in a three-dimensional space according to the dynamic characteristics of the flexible wing of the flapping-wing flying robot.
[0076] like image 3 As shown, the flexible wing OA of the flapping-wing flying robot in three-dimensional space is located in the OXYZ coordinate system, the left side of the flexible wing OA is fixed at the coordinate origin, called the fixed end O, and the right side of ...
no. 3 example
[0172] This embodiment provides an electronic device, which includes a processor and a memory; wherein, at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the method of the first embodiment.
[0173] The electronic device may vary greatly due to different configurations or performances, and may include one or more processors (central processing units, CPU) and one or more memories, wherein the memory stores at least one instruction, so The instructions are loaded by the processor and execute the above method.
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Abstract
The invention discloses a method for controlling a flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking. The method comprises the following steps: building a dynamic model of the flexible wing in a three-dimensional space according to the dynamic characteristics of the flexible wing of the flapping-wing flying robot; designing a target trajectory of a wingtip of the flexible wing in a three-dimensional space; and based on the kinetic model and an expected target trajectory, designing a first controller applied to the root of the flexible wing, controlling the flexible wing to perform target trajectory tracking in a three-dimensional space, obtaining boundary values of bending deformation and twisting deformation of the flexible wing, designing a second controller applied to a wingtip and provided with output constraint, and applying acting force to the wingtip in the moving process to restrain elastic deformation of the flexible wing. The flexible wing can be controlled to perform elliptical trajectory motion in the three-dimensional space, vibration of the flexible wing is effectively inhibited under existing constraint conditions, and trajectory tracking accuracy is improved.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a control method for a flexible wing of a flapping-wing flying robot based on three-dimensional trajectory tracking. Background technique [0002] With the development of aerospaceengineering, UAV technology has received extensive attention. Inspired by birds and insects, scientists have designed a new type of drone, the flapping-wing flying robot. The flapping-wing flying robot has the advantages of light weight, small size, easy operation, low power consumption, etc., and has the ability to fly at low altitudes, so it has broad application prospects in the military and civilian fields. [0003] Due to the relatively heavy weight of traditional rigid materials, flexible materials are usually used for the wing structure of flapping-wing flying robots. However, the flexible material will produce obvious elastic vibration and deformation due to its own characteristics,...
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