Ornithopter turning speed measuring device

Abstract

The application provides a flapping-wing aircraft steering speed measuring device, which comprises a first left side dynamic pressure pipe and a first right side dynamic pressure pipe installed on a flapping-wing aircraft framework, a second left side dynamic pressure pipe and a second right side dynamic pressure pipe installed on the flapping-wing aircraft framework, a proportional valve control module, an electromagnet coil, an armature, a left side valve body and a right side valve body, the electromagnet coil can move the armature after being electrified and reversely electrified, the left and right ends of the armature are respectively provided with through holes, the left side valve body and the right side valve body are respectively sleeved on the left and right ends of the armature, the left side valve body and the right side valve body are respectively provided with connecting holes corresponding to the through holes of the armature, a pressure sensing module installed on the flapping-wing aircraft framework, a left side pressure sensing module and a right side pressure sensing module, the left side pressure sensing module and the right side pressure sensing module are respectively provided with air inlet holes, and a processor connected with the left side pressure sensing module and the right side pressure sensing module through a data line.

Description

Technical Field

[0001] This invention relates to the field of multi-wing aircraft flight control technology, specifically to a device for measuring the turning speed of a multi-wing aircraft. Background Technology

[0002] Ornithopters are biomimetic-inspired aircraft. Compared to fixed-wing and rotary-wing aircraft, ornithopters mimic the function of bird wings, using flapping wings to provide both thrust and lift, and utilizing a tail fin to control flight direction. They are a type of aircraft with highly efficient energy utilization. Ornithopters are characterized by low energy consumption and deceptive appearance, and have gradually attracted widespread attention and research in military and civilian aircraft fields.

[0003] Ornithopter control models inherently possess stability, enabling long-duration stable flight under proper structural design. However, the aerodynamic model of an ornithopter is highly complex, making accurate input / output control of flight speed difficult. Therefore, designing a flight controller for autonomous ornithopter flight presents a challenge. Compared to rotorcraft, ornithopters are more prone to continuous unidirectional flight. The control of autonomous ornithopter flight primarily focuses on steering control, which requires obtaining the ornithopter's steering speed. Therefore, a novel ornithopter steering speed measurement mechanism is needed to accurately measure the ornithopter's steering speed during autonomous flight. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a steering speed measuring device for ornithopter aircraft used for measuring the steering speed of an aircraft during autonomous flight and thus performing steering feedback control.

[0005] To solve the above problems, the technical solution of the present invention is as follows:

[0006] A device for measuring the turning speed of an ornithopter includes:

[0007] The first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe, which are installed on the flapping-wing aircraft frame, are respectively installed on the flapping-wing aircraft frame through the first left-side dynamic pressure pipe connector and the first right-side dynamic pressure pipe connector;

[0008] The second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe, which are installed on the flapping-wing aircraft frame, are respectively installed on the flapping-wing aircraft frame through the second left-side dynamic pressure pipe connector and the second right-side dynamic pressure pipe connector;

[0009] The proportional valve control module includes an electromagnet coil, an armature, a left valve body, and a right valve body. The electromagnet coil can move the armature after being energized and energized in the reverse direction. The left and right ends of the armature are respectively provided with through holes. The left and right valve bodies are respectively fitted onto the left and right ends of the armature. The left and right valve bodies are respectively provided with connection holes corresponding to the through holes of the armature.

[0010] The pressure sensing module installed on the flapping-wing aircraft frame includes a left pressure sensing module and a right pressure sensing module. The left and right pressure sensing modules are respectively provided with air inlets. The left valve body of the proportional valve control device is connected to the first left dynamic pressure pipe, the second left dynamic pressure pipe and the left pressure sensing module through a hose. The right valve body of the proportional valve control device is connected to the first right dynamic pressure pipe, the second right dynamic pressure pipe and the right pressure sensing module through a hose.

[0011] The processor is connected to the left and right pressure sensing modules via a data cable to read data.

[0012] Preferably, the first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe are installed at the head of the flapping wing frame by bolt connection. During installation, the first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe are adjusted to form an angle of 10° to 15° with the center section of the flapping wing frame so that the airflow can pass smoothly through the dynamic pressure pipe when the flapping wing turns.

[0013] Preferably, the second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe are installed at the chest position of the flapping wing frame by bolt connection. During installation, the second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe are adjusted to form an angle of 10° to 15° with the center section of the flapping wing frame so that the airflow can pass smoothly through the dynamic pressure pipe when the flapping wing turns and work simultaneously with the dynamic pressure pipe at the head position.

[0014] Preferably, the proportional valve control module further includes an electromagnet base, a spring, a clamping ring, and a clamping nut. The proportional valve control module is fixed to the flapping wing aircraft frame via the electromagnet base. The armature is elastically connected to the electromagnet base via the spring, the clamping ring, and the clamping nut. When the electromagnet coil is energized, it causes the armature to move to the right side of the flapping wing aircraft. When the electromagnet coil is energized in the reverse direction, it causes the armature to move to the left side of the flapping wing aircraft.

[0015] Preferably, the center distance between the connecting holes of the left and right valve bodies is greater than the center distance between the through holes at the left and right ends of the armature. When the electromagnet coil is not energized, the connecting holes of the left and right valve bodies are tangent to the through holes at the left and right ends of the armature.

[0016] Preferably, when the electromagnet coil is energized, the armature moves to the right, and the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body and the through hole at the right end of the armature is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body and the left end of the armature; when the electromagnet coil is energized in the reverse direction, the armature moves to the left, and the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body and the through hole at the left end of the armature is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body and the right end of the armature.

[0017] Preferably, the left and right pressure sensing modules are respectively attached to the left and right sides of the flapping wing aircraft frame. Air passes through the dynamic pressure pipe, hose, and valve chamber to reach the air inlets of the left and right pressure sensing modules. The left and right pressure sensing modules can respectively measure the average pressure in the two air inlets.

[0018] Preferably, when the flapping-wing aircraft turns right, before the proportional valve control module is energized, the average dynamic pressure value measured by the left pressure sensing module is lower than the average dynamic pressure value measured by the right pressure sensing module. When the electromagnet coil is energized, the armature moves to the right, and the average dynamic pressure value measured by the left pressure sensing module increases. When the average dynamic pressure value measured by the left pressure sensing module is equal to the average dynamic pressure value measured by the right pressure sensing module, the voltage value of the electromagnet coil can be used to represent the turning speed of the flapping-wing aircraft turning right.

[0019] Preferably, when the flapping-wing aircraft turns to the left, before the proportional valve control module is energized, the average dynamic pressure value measured by the right pressure sensing module is lower than the average dynamic pressure value measured by the left pressure sensing module. When the electromagnet coil is energized in the reverse direction, the armature moves to the left, and the average dynamic pressure value measured by the right pressure sensing module increases. When the average dynamic pressure value measured by the right pressure sensing module is equal to the average dynamic pressure value measured by the left pressure sensing module, the voltage value of the electromagnet coil can be used to represent the turning speed of the flapping-wing aircraft turning to the left.

[0020] Compared with the prior art, the present invention adjusts the pressure sensing value through a proportional valve control device and indirectly measures the turning speed of the flapping wing aircraft by measuring the voltage value of the electromagnet coil. The structure is simple. Furthermore, the present invention sets dynamic pressure tubes at the head and chest positions of the flapping wing aircraft respectively, and uses the average value of the measurement to indirectly measure the turning speed, without the need to set static pressure tubes to measure the specific airflow velocity. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0022] Figure 1 A schematic diagram of an ornithopter equipped with the ornithopter steering speed measuring device of the present invention;

[0023] Figure 2 This is a top view of the flapping-wing aircraft turning speed measuring device provided in an embodiment of the present invention;

[0024] Figure 3 This is another schematic diagram of an ornithopter equipped with the ornithopter steering speed measuring device of the present invention;

[0025] Figure 4 This is a schematic diagram of a proportional valve control module that does not include the left and right valve bodies.

[0026] Figure 5 This is a schematic diagram of the overall structure of the flapping-wing aircraft turning speed measuring device provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram showing the working status of the proportional valve control module when an ornithopter turns right.

[0028] Figure 7 A structural diagram illustrating the functional principle of the proportional valve control module;

[0029] Figure 8 This is a schematic diagram of the measuring points of the first left-side dynamic pressure tube and the first right-side dynamic pressure tube in the flapping-wing aircraft turning speed measuring device of the present invention. Detailed Implementation

[0030] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0031] During a turn in flight, there is a difference in airflow velocity on both sides of the ornithopter. Taking a right turn as an example, during a right turn, the airflow velocity on the left side of the ornithopter is greater than that on the right side, and the dynamic pressure on the right side is greater than that on the left side. This invention adjusts the pressure sensing value through a proportional valve control device and indirectly measures the turning speed of the ornithopter by measuring the voltage value of the electromagnet coil.

[0032] Specifically, Figure 1 This is a schematic diagram of an ornithopter equipped with the ornithopter turning speed measuring device of the present invention. Figure 2 This is a top view of the flapping-wing aircraft turning speed measuring device provided in an embodiment of the present invention, as shown below. Figure 1 , Figure 2As shown, the ornithopter includes an ornithopter frame 8 and a power module 3 that provides power to the entire ornithopter. The ornithopter turning speed measuring device of the present invention is installed on the ornithopter frame 8 and is symmetrically distributed on both sides to maintain the stability of the ornithopter flight. The ornithopter turning speed measuring device includes a first left-side dynamic pressure pipe 11 and a first right-side dynamic pressure pipe 13 installed at the head position of the ornithopter, and a second left-side dynamic pressure pipe 21 and a second right-side dynamic pressure pipe 23 installed at the chest position of the ornithopter. The first left-side dynamic pressure pipe 11 and the first right-side dynamic pressure pipe 13 are respectively installed at the head position of the ornithopter frame 8 by bolting through the first left-side dynamic pressure pipe connector 12 and the first right-side dynamic pressure pipe connector 14. During installation, the first left-side dynamic pressure pipe 11 and the first right-side dynamic pressure pipe 13 are adjusted to form an angle of 10°-15° with the center section of the ornithopter frame 8 so that the airflow can pass smoothly through the dynamic pressure pipe when the ornithopter turns. The second left dynamic pressure pipe 21 and the second right dynamic pressure pipe 23 are respectively installed on the chest position of the flapping wing frame 8 by bolting through the second left dynamic pressure pipe connector 22 and the second right dynamic pressure pipe connector 24. During installation, the first left dynamic pressure pipe 21 and the first right dynamic pressure pipe 23 are adjusted to form an angle of 10° to 15° with the center section of the flapping wing frame 8 so that the airflow can pass smoothly through the dynamic pressure pipe when the flapping wing turns and work simultaneously with the dynamic pressure pipe at the head position.

[0033] like Figure 3 As shown, when the flapping-wing aircraft is equipped with the protective flapping-wing outer shell 7, the front ends of the first left-side dynamic pressure pipe 11, the first right-side dynamic pressure pipe 13, the second left-side dynamic pressure pipe 21, and the second right-side dynamic pressure pipe 23 are all exposed to the outside of the flapping-wing outer shell 7 and in contact with the air.

[0034] like Figure 4 , Figure 5 , Figure 6 As shown, the flapping-wing aircraft turning speed measuring device also includes a proportional valve control device 4, a pressure sensing module 5, and a processor 6. The proportional valve control device 4 includes an armature 41, an electromagnet coil 42, an electromagnet base 43, a spring 44, a clamping ring 45, a clamping nut 46, a left valve body 47, and a right valve body 48. The proportional valve control device 4 is fixed to the flapping-wing aircraft frame 8 through the electromagnet base 43. The electromagnet coil 42 is installed in the electromagnet base 43. The armature 41 passes through the electromagnet coil 42 and is elastically connected to the electromagnet base 43 through the clamping nut 46, the clamping ring 45, and the spring 44. The electromagnet coil 42 can push and pull the armature 41 left and right after being energized, that is, the electromagnet coil 42 can perform lateral pushing and pulling operations on the armature 41 when energized and when energized in the opposite direction.

[0035] Combination Figure 7As shown, the armature 41 has two through holes of the same size at its left and right ends respectively. The left valve body 47 and the right valve body 48 are respectively fitted onto the left and right ends of the armature 41. The left valve body 47 and the right valve body 48 are respectively provided with connecting holes corresponding to the through holes of the armature 41. The size of the connecting holes of the left valve body 47 and the right valve body 48 is slightly larger than the size of the through holes at the left and right ends of the armature 41. That is, the center distance D of the connecting holes of the left valve body 47 and the right valve body 48 is slightly larger than the center distance d of the through holes at the left and right ends of the armature 41. When the electromagnet coil 42 is not energized, the connecting holes of the left valve body 47 and the right valve body 48 are tangent to the through holes at the left and right ends of the armature 41.

[0036] like Figure 6 As shown, when the electromagnet coil 42 is energized, the armature 41 moves to the right side of the flapping-wing aircraft. At this time, the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body 48 and the through hole at the right end of the armature 41 is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body 47 and the through hole at the left end of the armature 41. Similarly, when the electromagnet coil 42 is energized in the reverse direction, the armature 41 moves to the left side of the flapping-wing aircraft. At this time, the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body 47 and the through hole at the left end of the armature 41 is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body 48 and the through hole at the right end of the armature 41.

[0037] The pressure sensing module 5 includes a left pressure sensing module 51 and a right pressure sensing module 52, which are respectively attached to the left and right sides of the flapping wing frame 8. The left pressure sensing module 51 and the right pressure sensing module 52 each have two air inlets, and the left pressure sensing module 51 and the right pressure sensing module 52 can measure the average pressure in the two air inlets. The left valve body 47 of the proportional valve control device 4 is connected to the first left dynamic pressure pipe 11, the second left dynamic pressure pipe 21 and the left pressure sensing module 51 through a hose. The right valve body 48 of the proportional valve control device 4 is connected to the first right dynamic pressure pipe 13, the second right dynamic pressure pipe 23 and the right pressure sensing module 52 through a hose. Air reaches the air inlets of the left pressure sensing module 51 and the right pressure sensing module 52 through the dynamic pressure pipe, the hose and the valve chamber.

[0038] The processor 6 is installed on the rear side of the flapping-wing aircraft frame 8 and is connected to the left pressure sensor module 51 and the right pressure sensor module 52 via data cables for reading data.

[0039] During a turn in flight, there is a difference in airflow velocity on both sides of the ornithopter. Taking a right turn as an example, during a right turn, the airflow velocity on the left side of the ornithopter is greater than that on the right side, and the dynamic pressure on the right side is greater than that on the left side. Figure 8As shown, the specific working process of the ornithopter turning speed measuring device is as follows: Taking the airflow at the nose of the ornithopter as an example, air along the same streamline bypasses the ornithopter shell 7 and reaches measuring points A and B of the first left-side dynamic pressure tube 11 and the first right-side dynamic pressure tube 13. According to Bernoulli's equation...

[0040]

[0041] Among them, P A P B Here, ρ represents the dynamic pressure at measuring points A and B, ρ is the air density, and V is the pressure at measuring points B and C. A V B For the air velocity at measuring points A and B, the equation can be transformed into:

[0042]

[0043] When the ornithopter turns right, the airflow velocity at measuring point A on the left is greater than the airflow velocity at measuring point B on the right.

[0044] V A >V B ,

[0045] According to Bernoulli's equation, the dynamic pressure at measuring point B on the right is greater than the dynamic pressure at measuring point A on the left.

[0046] P B >P A ,

[0047] Before the proportional valve control module 4 is energized, the dynamic pressure on the right side of the flapping wing nose and the dynamic pressure on the right side of the chest measured by the right pressure sensing module during right turn are correspondingly greater than the dynamic pressure on the left side of the flapping wing nose and the dynamic pressure on the left side of the chest measured by the left pressure sensing module. That is, the average dynamic pressure value measured by the left pressure sensing module 51 is lower than the average dynamic pressure value measured by the right pressure sensing module 52. When the electromagnet coil 42 is energized, the armature 41 moves to the right. At this time, the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body 47 and the through hole on the left side of the armature 41 is smaller than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body 48 and the through hole on the right side of the armature 41. According to the relationship between flow rate, valve cavity cross-sectional area, and pressure:

[0048] q = cAP,

[0049] Where q is the flow rate, c is a constant, A is the cross-sectional area of ​​the valve cavity, and P is the dynamic pressure value. The flow rate of air remains unchanged after passing through the proportional valve control module. As the armature 41 moves to the right, the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body 47 and the through hole on the left side of the armature 41 decreases, and the average dynamic pressure value measured by the left pressure sensing module 51 increases. When the average dynamic pressure value measured by the left pressure sensing module 51 is equal to the average dynamic pressure value measured by the right pressure sensing module 52, the voltage value of the electromagnet coil 42 is used to represent the turning speed of the flapping wing aircraft turning to the right.

[0050] The same working principle applies when the flapping wing turns right. When the flapping wing turns left, the electromagnet coil 42 is energized in reverse, causing the armature 41 to move to the left. When the average dynamic pressure value measured by the right pressure sensing module 52 is equal to the average dynamic pressure value measured by the left pressure sensing module 51, the voltage value of the electromagnet coil 42 can represent the turning speed of the flapping wing turning left.

[0051] In an optional embodiment, the installation position of the dynamic pressure pipes can be changed. For example, the first left dynamic pressure pipe 11, the second left dynamic pressure pipe 21, the first right dynamic pressure pipe 13, and the second right dynamic pressure pipe 23 can be installed on the back, neck, or belly of the flapping wing aircraft to adapt to the needs of flapping wing aircraft shells with different shapes.

[0052] In summary, this invention adjusts the pressure sensor value through a proportional valve control device and indirectly measures the turning speed of the flapping wing aircraft by measuring the voltage value of the electromagnet coil. The structure is simple. Furthermore, this invention sets dynamic pressure tubes at the head and chest positions of the flapping wing aircraft respectively, and uses the average value of the measurements to indirectly measure the turning speed, without the need to set up static pressure tubes to measure the specific airflow velocity.

[0053] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate assumed orientations or positional relationships and are only used to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0054] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A device for measuring the turning speed of an ornithopter, characterized in that, The device includes: The first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe, which are installed on the flapping-wing aircraft frame, are respectively installed on the flapping-wing aircraft frame through the first left-side dynamic pressure pipe connector and the first right-side dynamic pressure pipe connector; The second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe, which are installed on the flapping-wing aircraft frame, are respectively installed on the flapping-wing aircraft frame through the second left-side dynamic pressure pipe connector and the second right-side dynamic pressure pipe connector; The proportional valve control module includes an electromagnet coil, an armature, a left valve body, and a right valve body. The electromagnet coil can move the armature after being energized and energized in the reverse direction. The left and right ends of the armature are respectively provided with through holes. The left and right valve bodies are respectively fitted onto the left and right ends of the armature. The left and right valve bodies are respectively provided with connection holes corresponding to the through holes of the armature. The pressure sensing module installed on the flapping-wing aircraft frame includes a left pressure sensing module and a right pressure sensing module. The left and right pressure sensing modules are respectively provided with air inlets. The left valve body of the proportional valve control module is connected to the first left dynamic pressure pipe, the second left dynamic pressure pipe and the left pressure sensing module through a hose. The right valve body of the proportional valve control module is connected to the first right dynamic pressure pipe, the second right dynamic pressure pipe and the right pressure sensing module through a hose. The processor is connected to the left and right pressure sensing modules via a data cable to read data.

2. The ornithopter turning speed measuring device according to claim 1, characterized in that, The first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe are installed at the head of the flapping wing frame by bolt connection. During installation, the first left-side dynamic pressure pipe and the first right-side dynamic pressure pipe are adjusted to form an angle of 10° to 15° with the center section of the flapping wing frame so that the airflow can pass smoothly through the dynamic pressure pipe when the flapping wing turns.

3. The ornithopter turning speed measuring device according to claim 2, characterized in that, The second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe are installed at the chest position of the flapping wing frame by bolt connection. During installation, the second left-side dynamic pressure pipe and the second right-side dynamic pressure pipe are adjusted to form an angle of 10° to 15° with the center section of the flapping wing frame so that the airflow can pass smoothly through the dynamic pressure pipe when the flapping wing turns and work simultaneously with the dynamic pressure pipe at the head position.

4. The ornithopter turning speed measuring device according to claim 1, characterized in that, The proportional valve control module also includes an electromagnet base, a spring, a clamping ring, and a clamping nut. The proportional valve control module is fixed to the flapping wing aircraft frame via the electromagnet base. The armature is elastically connected to the electromagnet base via the spring, the clamping ring, and the clamping nut. When the electromagnet coil is energized, it causes the armature to move to the right side of the flapping wing aircraft. When the electromagnet coil is energized in the reverse direction, it causes the armature to move to the left side of the flapping wing aircraft.

5. The ornithopter turning speed measuring device according to claim 1, characterized in that, The center distance between the connecting holes of the left and right valve bodies is greater than the center distance between the through holes at the left and right ends of the armature. When the electromagnet coil is not energized, the connecting holes of the left and right valve bodies are tangent to the through holes at the left and right ends of the armature.

6. The ornithopter turning speed measuring device according to claim 1, characterized in that, When the electromagnet coil is energized, the armature moves to the right, and the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body and the through hole at the right end of the armature is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body and the through hole at the left end of the armature; when the electromagnet coil is energized in the reverse direction, the armature moves to the left, and the cross-sectional area of ​​the valve cavity formed by the connecting hole of the left valve body and the through hole at the left end of the armature is larger than the cross-sectional area of ​​the valve cavity formed by the connecting hole of the right valve body and the through hole at the right end of the armature.

7. The ornithopter turning speed measuring device according to claim 6, characterized in that, The left and right pressure sensing modules are respectively attached to the left and right sides of the flapping wing aircraft frame. Air passes through the dynamic pressure pipe, hose, and valve chamber to reach the air inlets of the left and right pressure sensing modules. The left and right pressure sensing modules can measure the average pressure in the two air inlets.

8. The ornithopter turning speed measuring device according to claim 1, characterized in that, When the ornithopter turns right, before the proportional valve control module is energized, the average dynamic pressure value measured by the left pressure sensor module is lower than that measured by the right pressure sensor module. When the electromagnet coil is energized, the armature moves to the right, and the average dynamic pressure value measured by the left pressure sensor module increases. When the average dynamic pressure value measured by the left pressure sensor module is equal to that measured by the right pressure sensor module, the voltage value of the electromagnet coil can be used to represent the turning speed of the ornithopter turning right.

9. The ornithopter turning speed measuring device according to claim 1, characterized in that, When the flapping-wing aircraft turns left, before the proportional valve control module is energized, the average dynamic pressure value measured by the right pressure sensor module is lower than that measured by the left pressure sensor module. When the electromagnet coil is energized in the reverse direction, the armature moves to the left, and the average dynamic pressure value measured by the right pressure sensor module increases. When the average dynamic pressure value measured by the right pressure sensor module is equal to that measured by the left pressure sensor module, the voltage value of the electromagnet coil can be used to represent the turning speed of the flapping-wing aircraft turning left.

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