Flapping wing flight attitude control method based on L1 self-adaption

An adaptive controller, flight attitude technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of adjusting flight attitude, dynamic model without considering external wind disturbance and self-vibration, etc. Good transient response characteristics and the effect of increasing parameter uncertainty

Inactive Publication Date: 2022-03-25
WEIFANG UNIVERSITY
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] Most of the above-mentioned flight control methods for flapping wings only solve the attitude control problem of flapping wing flight in one dimension, and do not adjust the flight attitude in a timely manner according to changes in the external environment. vibration problem

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Flapping wing flight attitude control method based on L1 self-adaption
  • Flapping wing flight attitude control method based on L1 self-adaption
  • Flapping wing flight attitude control method based on L1 self-adaption

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0050] Embodiment 1, a kind of flapping wing flight attitude control method based on L1 self-adaptation, comprises the following steps:

[0051] Step 1: Establish a flapping wing flight motion model.

[0052] The specific introduction of the flapping wing flight motion model is as follows:

[0053] 1. Definition of the coordinate system of the flapping wing flight motion model

[0054]Flapping-wing bionic ammunition imitates birds to generate the power required for flight by flapping their wings. In order to establish a flapping-wing flight motion model, it is necessary to define a set of coordinate systems for the flapping-wing flight movement process. During the flapping wing flight, since the center of mass and moment of inertia of the flight system will change during the flapping wing up and down, the position of the center of mass and the moment of inertia of the system during flapping wing flight are time-varying functions. Therefore, it is necessary to describe the mo...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a flapping wing flight attitude control method based on L1 self-adaption. The method comprises the following steps: step 1, establishing a flapping wing flight motion model; step 2, constructing an L1AC self-adaptive controller; step 3, bionic flapping wing flight L1 adaptive control is carried out, and the established actual flapping wing flight dynamics model is verified; and step 4, simulation analysis and calculation are carried out, actual parameters of the ornithopter are input into the control model, and the validity of the constructed L1AC adaptive controller in platform application is verified. The method has the following advantages: the L1 adaptive control method is applied to flapping wing flight attitude control, a flapping wing flight attitude control system is built according to the established flapping wing kinetic model, adaptive control adjusts parameter estimation according to a control law, it is ensured that the output error of a state predictor and a controlled object is stable under the Lyapunov meaning, and the stability of the flapping wing flight attitude control system is ensured. And thus, a control law is obtained.

Description

technical field [0001] The invention is an L1 self-adaptive flapping-wing flight attitude control method, which belongs to the field of unmanned aerial vehicle control. Background technique [0002] Flapping-wing flight control is a typical high-order uncertain nonlinear control problem. The flapping-wing aircraft relies on the rapid flapping of the wings to generate the power required for flight. The aircraft itself needs to use flexible and lightweight materials to improve flight efficiency, but flexible and lightweight The fuselage is easily disturbed by external forces, resulting in unstable flight. At the same time, the rapid flapping of the wings during flapping flight will cause a large vibration of the whole system. Self-vibration and external force disturbance will cause the performance of sensors and actuators to decline, and the measurement error of motion parameters will increase. Therefore, the attitude control of the flapping-wing aircraft requires a control a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/106
Inventor 李伦
Owner WEIFANG UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap