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Course control method based on asymmetric phase difference and amplitude of flapping wings

A heading control and phase difference technology, which is applied in the controller, electric controller and other directions with specific characteristics, can solve the problems of lack of a more accurate model and difficulty in precise heading control, so as to speed up the heading response speed, increase the sensitivity, reduce the Effect of small heading overshoot

Active Publication Date: 2021-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The propulsion method of the manta ray-like aircraft is different from that of the traditional aircraft, and there is no more accurate model so far, so it is very difficult to use the traditional method to achieve its precise heading control, and it is necessary to design a new heading control method
However, in the published literature, there is no example of using the asymmetric phase difference and amplitude synergy produced by the flapping wing mechanism to realize the heading control of the manta ray aircraft.

Method used

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  • Course control method based on asymmetric phase difference and amplitude of flapping wings
  • Course control method based on asymmetric phase difference and amplitude of flapping wings
  • Course control method based on asymmetric phase difference and amplitude of flapping wings

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Embodiment Construction

[0056] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0057] The specific steps of the embodiment are: obtain the deviation between the current heading angle and the current heading of the aircraft through the attitude sensor, and select different actuators to adjust the heading according to the magnitude of the heading deviation.

[0058] 1. Obtain the current heading angle of the underwater vehicle through the attitude sensor The target heading angle set by the task is Then the yaw angle e, then

[0059]

[0060] 2. Deriving the yaw angle to obtain the rate of change ec of the heading angle deviation, then:

[0061]

[0062] Where t is the update time of the attitude sensor information of the underwater vehicle.

[0063] Discretize the above formula as:

[0064]

[0065] Where e(t) is the heading angle deviation at the current moment, and e(t-1) is the heading angle deviation at the previous moment....

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Abstract

The invention relates to a course control method based on asymmetric phase difference and amplitude of flapping wings, which comprises the following steps: acquiring current course information through an attitude sensor, and calculating a yaw value; according to the current aircraft course deviation, utilizing fuzzy PD control, and when the gliding course deviation of the aircraft is large, taking a parameter obtained through a fuzzy PD control algorithm as a CPG phase difference variable, enabling a CPG controller to output a flapping wing control signal, and specifically, course is fixed through an asymmetric flapping wing phase difference; when the course deviation is small, taking a parameter obtained by the fuzzy PD control algorithm as a CPG amplitude variable in the following submerging and floating conversion stage, and then enabling a CPG controller to output a flapping wing control signal to set the course for an asymmetric flapping wing amplitude.

Description

technical field [0001] The invention belongs to a method for controlling the heading of a manta ray aircraft, and relates to a heading control method based on the asymmetrical phase difference and amplitude of a flapping wing, and specifically relates to an asymmetrical phase difference and amplitude generated by a flapping wing mechanism Synergistic approach to heading control of a manta ray-like vehicle. Background technique [0002] Based on the principle of the underwater glider, the manta ray-like underwater vehicle combines the gliding propulsion of the glider and the flexible propulsion of the imitation marine creature manta ray to realize the integration of sliding and swooping. It has the characteristics of long range and high maneuverability, and can realize wide-area rough dimensional, fixed-point fine-dimensional underwater observation, more suitable for various complex sea areas. [0003] Due to the complex underwater environment, there are disturbances such as...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 曹勇谢钰马淑敏郝艺伟张代利
Owner NORTHWESTERN POLYTECHNICAL UNIV
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