A heading control method based on asymmetrical phase difference and amplitude of flapping wings

Abstract

The invention relates to a heading control method based on asymmetrical phase difference and amplitude of flapping wings. The current heading information is obtained through an attitude sensor, and the yaw value is calculated; according to the magnitude of the heading deviation of the current aircraft, fuzzy PD control is used to glide on the aircraft. When the heading deviation is large, the parameters obtained by the fuzzy PD control algorithm are used as the CPG phase difference variable, and then the CPG controller outputs the flapping wing control signal, which is embodied in the asymmetric flapping phase difference for navigating; In the floating conversion stage, the parameters obtained by the fuzzy PD control algorithm are used as the CPG amplitude variable, and then the CPG controller outputs the flapping wing control signal to determine the asymmetric flapping wing amplitude.

Description

technical field [0001] The invention belongs to a method for course control of a manta-like aircraft, relates to a course control method based on asymmetrical phase difference and amplitude of flapping wings, and in particular relates to a method of asymmetrical phase difference and amplitude generated by a flapping wing mechanism. A method for the course control of a manta-like vehicle based on synergy. Background technique [0002] On the basis of the principle of underwater glider, the artificial manta ray underwater vehicle combines the gliding propulsion of the glider and the flexible propulsion of the artificial manta ray to realize the integration of gliding and flapping. Dimensional, fixed-point and fine-dimension underwater observations are more suitable for various complex sea areas. [0003] Due to the complex underwater environment, there are interferences such as different intensities and speeds of currents, which easily affect the vehicle not being able to tra...

AI Technical Summary

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.

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