A method and system for steering control of a flapping-wing aircraft driven by a steering engine

Abstract

This invention discloses a steering control method and system for a servo-driven flapping-wing aircraft. The method includes: receiving a steering control command; wherein the steering control command includes first tilt angle information and first amplitude information; parsing the steering control command to obtain the corresponding first tilt angle and first amplitude; wherein the first wing is the left or right wing of the flapping-wing aircraft; calculating a first downward flapping angle and a first upward flapping angle based on the first tilt angle and the first amplitude; generating a first pulse width modulation signal based on the first downward flapping angle and the first upward flapping angle; and controlling the flapping of the first wing based on the first pulse width modulation signal. This invention can achieve steering control of the flapping-wing aircraft without relying on a tail fin, improving the steering flexibility of the flapping-wing aircraft.

Description

Technical Field

[0001] This invention relates to the field of flapping-wing aircraft technology, and in particular to a steering control method and system for a servo-driven flapping-wing aircraft. Background Technology

[0002] Ornithopter aircraft are an important type of biomimetic aircraft. Compared with fixed-wing and rotary-wing aircraft, ornithopter aircraft have advantages such as lower aerodynamic noise, greater maneuverability, and better biomimetic stealth capabilities. Based on wingspan, they can be broadly categorized into large or micro ornithopter aircraft. Large and medium-sized ornithopter aircraft, due to their larger wingspan and higher payload, have broader application prospects. However, currently, most large ornithopter aircraft use traditional motor-gear drives, resulting in complex mechanical structures, heavy weight, insensitive steering, and difficult handling, hindering the widespread adoption of ornithopter aircraft. Ornithopter aircraft using servo motors have lightweight power units and are lighter in weight, but they rely heavily on the tail fin for directional adjustment, requiring a large turning radius and lacking flexible steering capabilities, making them unsuitable for tailless systems. Summary of the Invention

[0003] This invention provides a steering control method and system for a servo-driven flapping-wing aircraft to solve the technical problems of insufficient steering sensitivity and reliance on the tail fin in existing servo-driven flapping-wing aircraft.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a steering control method for a servo-driven flapping-wing aircraft, comprising:

[0005] Receive steering control command; wherein the steering control command includes first tilt angle information and first amplitude information;

[0006] The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude; wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left wing or right wing of the flapping wing aircraft;

[0007] Based on the first tilt angle and the first amplitude, the first downward flapping angle and the first upward flapping angle are calculated; wherein, the first downward flapping angle is the angle formed by the first wing when it flaps down to the lowest point and the horizontal line; the first upward flapping angle is the angle formed by the first wing when it flaps up to the highest point and the horizontal line.

[0008] A first pulse width modulation signal is generated based on the first downward flapping angle and the first upward flapping angle;

[0009] The flapping of the first wing is controlled according to the first pulse width modulation signal.

[0010] As a preferred embodiment, the steering control method for the servo-driven flapping-wing aircraft further includes:

[0011] Based on the first tilt angle, a second tilt angle is determined; wherein, the second tilt angle is the angle formed by the bisector of the flapping angle of the second wing and the horizontal line;

[0012] The second amplitude is determined based on the second tilt angle and the first amplitude; wherein, the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping wing aircraft, the second wing is the right wing of the flapping wing aircraft; otherwise, the second wing is the left wing of the flapping wing aircraft.

[0013] Based on the second tilt angle and the second amplitude, the second downward flapping angle and the second upward flapping angle are calculated; wherein, the second downward flapping angle is the angle formed by the second wing when it flaps down to the lowest point and the horizontal line; the second upward flapping angle is the angle formed by the second wing when it flaps up to the highest point and the horizontal line.

[0014] A second pulse width modulation signal is generated based on the second downward flapping angle and the second upward flapping angle;

[0015] The flapping of the second wing is controlled according to the second pulse width modulation signal.

[0016] As a preferred embodiment, the step of calculating the first downward pouncing angle and the first upward pouncing angle based on the first tilt angle and the first amplitude includes:

[0017] The value of the first tilt angle is determined based on the magnitude and direction of the first tilt angle; wherein, the direction of the first tilt angle is based on the horizontal side, and if the non-horizontal side of the first tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction;

[0018] Calculate the value of the first downward dive angle according to the formula for calculating the first downward dive angle; calculate the value of the first upward dive angle according to the formula for calculating the first upward dive angle;

[0019] The first downward pouncing angle is determined based on the value of the first downward pouncing angle; the first upward pouncing angle is determined based on the value of the first upward pouncing angle;

[0020] The formula for calculating the first downward angle is as follows:

[0021] The value of the first downward angle = the first tilt angle - the first amplitude;

[0022] The formula for calculating the first upward pouncing angle is:

[0023] The value of the first upward pouncing angle = the first tilt angle + the first amplitude.

[0024] As a preferred embodiment, generating the first pulse width modulation signal based on the first downward flapping angle and the first upward flapping angle includes:

[0025] Based on the first downward pouncing angle and the first upward pouncing angle, the pulse width modulation signal is determined according to the preset correspondence between the angle value and the pulse width modulation signal.

[0026] As a preferred embodiment, determining the second tilt angle based on the first tilt angle includes:

[0027] Based on the first tilt angle, determine the angle bisector of the flapping angle of the first wing;

[0028] The angle bisector of the flapping angle of the second wing is determined based on the angle bisector of the flapping angle of the first wing.

[0029] The second tilt angle is determined based on the bisector of the flapping angle of the second wing.

[0030] As a preferred embodiment, determining the second amplitude based on the second tilt angle and the first amplitude includes:

[0031] The formula for calculating the second amplitude is determined based on the direction of the second tilt angle;

[0032] Calculate the second amplitude based on the first amplitude and according to the formula for calculating the second amplitude.

[0033] The direction of the second tilt angle is based on the horizontal side. If the non-horizontal side is lower than the horizontal side, it is a negative direction; otherwise, it is a positive direction.

[0034] The step of determining the second amplitude calculation formula based on the direction of the second tilt angle includes:

[0035] If the direction of the second tilt angle is positive, then the formula for calculating the second amplitude is:

[0036] Second amplitude = First amplitude - Preset amplitude difference;

[0037] If the direction of the second tilt angle is negative, then the formula for calculating the second amplitude is:

[0038] Second amplitude = First amplitude + Preset amplitude difference.

[0039] As a preferred embodiment, the calculation of the second downward pouncing angle and the second upward pouncing angle based on the second tilt angle and the second amplitude includes:

[0040] The value of the second tilt angle is determined based on its magnitude and direction; wherein, the direction of the second tilt angle is based on the horizontal side, and if the non-horizontal side of the second tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction;

[0041] Calculate the value of the second downward dive angle according to the formula for calculating the second downward dive angle; calculate the value of the second upward dive angle according to the formula for calculating the second upward dive angle;

[0042] The second downward pouncing angle is determined based on the value of the second downward pouncing angle; the second upward pouncing angle is determined based on the value of the second upward pouncing angle;

[0043] The formula for calculating the second downward angle is as follows:

[0044] The value of the second downward angle = the second tilt angle - the second amplitude;

[0045] The formula for calculating the second upward pouncing angle is:

[0046] The value of the second upward pouncing angle = the second tilt angle + the second amplitude.

[0047] As a preferred embodiment, generating the second pulse width modulation signal based on the second downward flapping angle and the second upward flapping angle includes:

[0048] Based on the second downward flapping angle and the second upward flapping angle, the pulse width modulation signal is determined according to the preset angle value and the correspondence between the pulse width modulation signal.

[0049] This invention also provides a steering control system for a servo-driven flapping-wing aircraft, comprising: a signal receiver, a flight control board, and a first servo motor;

[0050] The signal receiver is used to receive steering control commands and forward the steering control commands to the flight control board; wherein, the steering control commands include first tilt angle information and first amplitude information;

[0051] The flight control board is used for:

[0052] Receive the steering control command;

[0053] The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude;

[0054] The first downward pouncing angle and the first upward pouncing angle are calculated based on the first tilt angle and the first amplitude.

[0055] Based on the first downward flapping angle and the first upward flapping angle, a first pulse width modulation signal is generated and transmitted to the servo motor.

[0056] Wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left or right wing of the flapping wing aircraft; the first downward flapping angle is the angle formed by the first wing and the horizontal line when it flaps downward to its lowest point; the first upward flapping angle is the angle formed by the first wing and the horizontal line when it flaps upward to its highest point.

[0057] The first servo motor is used to receive the first pulse width modulation signal and control the flapping of the first wing according to the first pulse width modulation signal.

[0058] As a preferred embodiment, the steering control system of the servo-driven flapping-wing aircraft further includes: a second servo;

[0059] The flight control board is also used for:

[0060] Based on the first tilt angle, determine the second tilt angle;

[0061] The second amplitude is determined based on the second tilt angle and the first amplitude;

[0062] The second downward pouncing angle and the second upward pouncing angle are calculated based on the second tilt angle and the second amplitude.

[0063] Based on the second downward flapping angle and the second upward flapping angle, a second pulse width modulation signal is generated and transmitted to the servo motor;

[0064] Wherein, the second tilt angle is the angle formed by the bisector of the flapping angle of the second wing and the horizontal line; the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping-wing aircraft, the second wing is the right wing of the flapping-wing aircraft; otherwise, the second wing is the left wing of the flapping-wing aircraft; the second downward flapping angle is the angle formed by the second wing and the horizontal line when it flaps downward to its lowest point; the second upward flapping angle is the angle formed by the second wing and the horizontal line when it flaps upward to its highest point;

[0065] The second servo motor is used to receive the second pulse width modulation signal and control the flapping of the second wing according to the second pulse width modulation signal.

[0066] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0067] This invention discloses a steering control method and system for a servo-driven flapping-wing aircraft. The method includes: receiving a steering control command; wherein the steering control command includes first tilt angle information and first amplitude information; parsing the steering control command to obtain the corresponding first tilt angle and first amplitude; wherein the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as a reference; the first wing is the left or right wing of the flapping-wing aircraft; calculating a first downward flapping angle and a first upward flapping angle based on the first tilt angle and the first amplitude; wherein the first downward flapping angle is the angle formed by the first wing when it flaps downward to its lowest point and the horizontal line; the first upward flapping angle is the angle formed by the first wing when it flaps upward to its highest point and the horizontal line; generating a first pulse width modulation signal based on the first downward flapping angle and the first upward flapping angle; and controlling the flapping of the first wing based on the first pulse width modulation signal. This invention receives steering control commands and analyzes them to generate pulse width modulation (PWM) signals, which are then used to control the flapping behavior of the wings. The PWM signals control the direction and amplitude of the wing flapping angle, resulting in different lift for the left and right wings. For example, if the left wing flaps downwards, the lift increases; or if the left wing has a larger flapping angle than the right wing, the flapping speed is faster. According to the strip theory in unsteady aerodynamics, a faster flapping speed results in greater lift. By creating conditions that increase the lift of a particular wing, the difference in lift between the left and right wings is achieved, causing the wings to tilt. The lift then maps to a component force providing a rightward steering force. Thus, steering control of the flapping-wing aircraft can be achieved without relying on a tail fin, improving the aircraft's steering flexibility. Attached Figure Description

[0068] Figure 1 This is a schematic flowchart of a steering control method for a servo-driven flapping-wing aircraft according to the present invention;

[0069] Figure 2 This is another schematic diagram of the steering control method for a servo-driven flapping-wing aircraft according to the present invention;

[0070] Figure 3 This is a schematic diagram of a steering control method for a servo-driven flapping-wing aircraft according to the present invention;

[0071] Figure 4 This is a schematic diagram of the steering control system structure of a servo-driven flapping-wing aircraft according to the present invention;

[0072] Figure 5 This is another schematic diagram of the steering control system of a servo-driven flapping-wing aircraft according to the present invention;

[0073] The reference numerals in the accompanying drawings are as follows: signal receiver 1, flight control board 2, first servo 31, and second servo 32. Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] Example 1

[0076] Please refer to Figure 1 The present invention provides a steering control method for a servo-driven flapping-wing aircraft, comprising:

[0077] S1. Receive steering control command; wherein the steering control command includes first tilt angle information and first amplitude information.

[0078] It should be noted that the steering control command is a signal sent by the user via remote control or ground station wireless communication; the steering control command includes the user-set first tilt angle information and first amplitude information.

[0079] S2. Analyze the steering control command to obtain the corresponding first tilt angle and first amplitude; wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left or right wing of the flapping wing aircraft.

[0080] It should be noted that the first wing can be either the left or right wing of an ornithopter.

[0081] Indicatively, the user-defined first wing is the left wing of the flapping-wing aircraft.

[0082] The steering control command is parsed, and the first tilt angle is obtained based on the first tilt angle information, and the first amplitude is obtained based on the first amplitude information.

[0083] S3. Calculate the first downward flapping angle and the first upward flapping angle based on the first tilt angle and the first amplitude; wherein, the first downward flapping angle is the angle formed by the first wing when it flaps down to the lowest point and the horizontal line; the first upward flapping angle is the angle formed by the first wing when it flaps up to the highest point and the horizontal line.

[0084] In a preferred embodiment, calculating the first downward pouncing angle and the first upward pouncing angle based on the first tilt angle and the first amplitude includes:

[0085] The value of the first tilt angle is determined based on the magnitude and direction of the first tilt angle; wherein, the direction of the first tilt angle is based on the horizontal side, and if the non-horizontal side of the first tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction;

[0086] Calculate the value of the first downward dive angle according to the formula for calculating the first downward dive angle; calculate the value of the first upward dive angle according to the formula for calculating the first upward dive angle;

[0087] The first downward pouncing angle is determined based on the value of the first downward pouncing angle; the first upward pouncing angle is determined based on the value of the first upward pouncing angle;

[0088] The formula for calculating the first downward angle is as follows:

[0089] The value of the first downward angle = the first tilt angle - the first amplitude;

[0090] The formula for calculating the first upward pouncing angle is:

[0091] The value of the first upward pouncing angle = the first tilt angle + the first amplitude.

[0092] Schematic illustration: The user sets the first tilt angle to a magnitude of 10° and a negative direction; the user sets the first amplitude to 45°. Based on the magnitude and direction of the first tilt angle, the value of the first tilt angle is determined to be -10°; the value of the first downward pouncing angle is calculated to be -55° according to the first pouncing angle calculation formula, and the value of the first upward pouncing angle is calculated to be 35° according to the first upward pouncing angle calculation formula.

[0093] It should be noted that the range of the first tilt angle is -25° to 25°; and the range of the first amplitude is 30° to 70°.

[0094] S4. Generate a first pulse width modulation signal based on the first downward pouncing angle and the first upward pouncing angle.

[0095] In a preferred embodiment, generating the first pulse width modulation signal based on the first downward flapping angle and the first upward flapping angle includes:

[0096] Based on the first downward pouncing angle and the first upward pouncing angle, the first pulse width modulation signal is determined according to the preset correspondence between the angle value and the pulse width modulation signal.

[0097] Using known pulse width modulation signal generation methods, the range of variation of the first pulse width modulation signal can be determined based on the first downward flapping angle and the first upward flapping angle; combined with known flapping wing motion laws, the variation law of the first pulse width modulation signal can be determined, thereby determining the first pulse width modulation signal.

[0098] S5. Control the flapping of the first wing according to the first pulse width modulation signal.

[0099] Based on known methods for controlling wing flapping using pulse width modulation (PWM) signals, the flapping of the first wing can be controlled according to the first PWM signal. The servo motor operation can be controlled at any given time using the PWM signal, thereby controlling the wing flapping at any time, especially the flapping angle. By controlling the flapping angle and speed of the first wing, conditions are created for active control of flight attitude and direction.

[0100] Please refer to Figure 2 In a preferred embodiment, the steering control method for the servo-driven flapping-wing aircraft further includes:

[0101] S6. Determine the second tilt angle based on the first tilt angle; wherein, the second tilt angle is the angle formed by the bisector of the flapping angle of the second wing and the horizontal line;

[0102] In a preferred embodiment, determining the second tilt angle based on the first tilt angle includes:

[0103] Based on the first tilt angle, determine the angle bisector of the flapping angle of the first wing;

[0104] The angle bisector of the flapping angle of the second wing is determined based on the angle bisector of the flapping angle of the first wing.

[0105] The second tilt angle is determined based on the bisector of the flapping angle of the second wing.

[0106] It should be noted that the bisector of the first tilt angle is the same straight line as the bisector of the flapping angle of the first wing; the bisector of the flapping angle of the first wing is also the same straight line as the bisector of the flapping angle of the second wing; the first tilt angle and the second tilt angle are in opposite directions.

[0107] Schematic, if the first tilt angle is -10°, then the angle bisector of the first tilt angle, that is, the angle bisector of the flapping angle of the first wing, is the line containing the non-horizontal side of the angle with a value of -5°; then the corresponding angle bisector of the flapping angle of the second wing is also the line containing the non-horizontal side of the angle with a value of -5°; therefore, the second tilt angle is an angle with a value of 10°.

[0108] S7. Determine the second amplitude based on the second tilt angle and the first amplitude; wherein, the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping wing aircraft, the second wing is the right wing of the flapping wing aircraft; otherwise, the second wing is the left wing of the flapping wing aircraft.

[0109] It should be noted that when the first wing is the left wing of the flapping-wing aircraft, the second wing is the right wing of the flapping-wing aircraft; when the first wing is the right wing of the flapping-wing aircraft, the second wing is the left wing of the flapping-wing aircraft.

[0110] In a preferred embodiment, determining the second amplitude based on the second tilt angle and the first amplitude includes:

[0111] The formula for calculating the second amplitude is determined based on the direction of the second tilt angle;

[0112] Calculate the second amplitude based on the first amplitude and according to the formula for calculating the second amplitude.

[0113] The direction of the second tilt angle is based on the horizontal side. If the non-horizontal side is lower than the horizontal side, it is a negative direction; otherwise, it is a positive direction.

[0114] The step of determining the second amplitude calculation formula based on the direction of the second tilt angle includes:

[0115] If the direction of the second tilt angle is positive, then the formula for calculating the second amplitude is:

[0116] Second amplitude = First amplitude - Preset amplitude difference;

[0117] If the direction of the second tilt angle is negative, then the formula for calculating the second amplitude is:

[0118] Second amplitude = First amplitude + Preset amplitude difference.

[0119] To illustrate, the preset amplitude difference is 15°. The value of the second tilt angle is 10°, and the direction is positive. Therefore, according to the second amplitude calculation formula, the second amplitude is calculated to be 30°.

[0120] S8. Calculate the second downward flapping angle and the second upward flapping angle based on the second tilt angle and the second amplitude; wherein, the second downward flapping angle is the angle formed between the second wing and the horizontal line when the second wing flaps down to its lowest point; the second upward flapping angle is the angle formed between the second wing and the horizontal line when the second wing flaps up to its highest point.

[0121] In a preferred embodiment, calculating the second downward pouncing angle and the second upward pouncing angle based on the second tilt angle and the second amplitude includes:

[0122] The value of the second tilt angle is determined based on its magnitude and direction; wherein, the direction of the second tilt angle is based on the horizontal side, and if the non-horizontal side of the second tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction;

[0123] Calculate the value of the second downward dive angle according to the formula for calculating the second downward dive angle; calculate the value of the second upward dive angle according to the formula for calculating the second upward dive angle;

[0124] The second downward pouncing angle is determined based on the value of the second downward pouncing angle; the second upward pouncing angle is determined based on the value of the second upward pouncing angle;

[0125] The formula for calculating the second downward angle is as follows:

[0126] The value of the second downward angle = the second tilt angle - the second amplitude;

[0127] The formula for calculating the second upward pouncing angle is:

[0128] The value of the second upward pouncing angle = the second tilt angle + the second amplitude.

[0129] Schematic, the value of the second downward pouncing angle calculated according to the second pouncing angle calculation formula is -20°, and the value of the first upward pouncing angle calculated according to the first upward pouncing angle calculation formula is 40°.

[0130] S9. Generate a second pulse width modulation signal based on the second downward pouncing angle and the second upward pouncing angle;

[0131] In a preferred embodiment, generating the second pulse width modulation signal based on the second downward flapping angle and the second upward flapping angle includes:

[0132] Based on the second downward flapping angle and the second upward flapping angle, the pulse width modulation signal is determined according to the preset angle value and the correspondence between the pulse width modulation signal.

[0133] Using known pulse width modulation signal generation methods, the range of variation of the second pulse width modulation signal can be determined based on the second downward flapping angle and the second upward flapping angle; combined with known flapping wing motion laws, the variation law of the second pulse width modulation signal can be determined, thereby determining the second pulse width modulation signal.

[0134] S10. Control the flapping of the second wing according to the second pulse width modulation signal.

[0135] Based on known methods of controlling wing flapping using pulse width modulation (PWM) signals, the flapping of the second wing can be controlled using a second PWM signal. The servo motor operation can be controlled at any given time using PWM signals, thereby controlling the wing flapping at any time, especially the flapping angle. By controlling the flapping angle and speed of the left and right wings, active control of flight attitude and direction can be achieved.

[0136] Please refer to Figure 3 To better illustrate the steering control method of a servo-driven flapping-wing aircraft according to the present invention, a specific example is provided here to further explain the present invention:

[0137] In this embodiment, the first wing is the left wing of a flapping-wing aircraft.

[0138] Receives a steering control command set by the user and sent by the user via a remote control; wherein the user sets the first tilt angle information in the steering control command to a tilt angle of 10° and a negative direction; the user sets the first amplitude information in the steering control command to an amplitude of 45°.

[0139] The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude.

[0140] Based on the first tilt angle, the value of the first tilt angle is determined to be -10°, and based on the first amplitude of 45°, the value of the first downward pouncing angle is calculated to be -55°; the value of the first upward pouncing angle is 35°.

[0141] Based on the first downward flapping angle and the first upward flapping angle, and according to the preset correspondence between the angle value and the pulse width modulation signal, using the known pulse width modulation signal generation method, the variation range of the first pulse width modulation signal can be determined based on the first downward flapping angle and the first upward flapping angle; combined with the known flapping wing motion law, the variation law of the first pulse width modulation signal can be determined, thereby determining the first pulse width modulation signal.

[0142] Based on the known method of controlling wing flapping using pulse width modulation signals, the flapping of the left wing can be controlled according to the first pulse width modulation signal.

[0143] If the first wing is the left wing, then the second wing is the right wing.

[0144] Based on the first tilt angle being -10°, the second tilt angle is determined to be 10°.

[0145] The preset amplitude difference is 15°. The value of the second tilt angle is 10°, and the direction is positive. Therefore, according to the second amplitude calculation formula, the second amplitude is calculated to be 30°.

[0146] Based on the value of the second tilt angle being 10° and the value of the second amplitude being 30°, the value of the first downward pouncing angle is calculated to be -20°; the value of the first upward pouncing angle is 40°.

[0147] Based on the second downward flapping angle and the second upward flapping angle, and according to the preset correspondence between the angle value and the pulse width modulation signal, using the known pulse width modulation signal generation method, the variation range of the second pulse width modulation signal can be determined based on the second downward flapping angle and the second upward flapping angle; combined with the known flapping wing motion law, the variation law of the second pulse width modulation signal can be determined, thereby determining the second pulse width modulation signal.

[0148] Based on the known method of controlling wing flapping using pulse width modulation signals, the flapping of the right wing can be controlled using a second pulse width modulation signal.

[0149] Ultimately, the left wing of the flapping-wing aircraft can flap within a range of -55° downward flapping angle and 35° upward flapping angle; the right wing can flap within a range of -20° downward flapping angle and 40° upward flapping angle. In this embodiment, when the left wing flaps downward, the lift increases, and since the left wing's flapping angle is larger than the right wing's, the flapping speed is faster. According to the strip theory in unsteady aerodynamics, a faster flapping speed further increases the lift of the left wing, making it greater than the right wing's lift. This difference in lift between the left and right wings causes the wings to tilt, and the lift will map out a component force providing a rightward steering force, allowing the flapping-wing aircraft to turn right. This embodiment achieves steering control of the flapping-wing aircraft without relying on a tail fin, improving the aircraft's steering flexibility.

[0150] Example 2

[0151] Please refer to Figure 4 The present invention provides a steering control system for a servo-driven flapping-wing aircraft, comprising: a signal receiver 1, a flight control board 2, and a first servo motor 31;

[0152] The signal receiver 1 is used to receive steering control commands and forward the steering control commands to the flight control board 2; wherein, the steering control commands include first tilt angle information and first amplitude information;

[0153] The flight control board 2 is used for:

[0154] Receive the steering control command;

[0155] The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude;

[0156] The first downward pouncing angle and the first upward pouncing angle are calculated based on the first tilt angle and the first amplitude.

[0157] Based on the first downward flapping angle and the first upward flapping angle, a first pulse width modulation signal is generated and transmitted to the servo motor.

[0158] Wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left or right wing of the flapping wing aircraft; the first downward flapping angle is the angle formed by the first wing and the horizontal line when it flaps downward to its lowest point; the first upward flapping angle is the angle formed by the first wing and the horizontal line when it flaps upward to its highest point.

[0159] The first servo motor 31 is used to receive the first pulse width modulation signal and control the flapping of the first wing according to the first pulse width modulation signal.

[0160] Please refer to Figure 5 In a preferred embodiment, the steering control system of the servo-driven flapping-wing aircraft further includes: a second servo 32;

[0161] The flight control board 2 is also used for:

[0162] Based on the first tilt angle, determine the second tilt angle;

[0163] The second amplitude is determined based on the second tilt angle and the first amplitude;

[0164] The second downward pouncing angle and the second upward pouncing angle are calculated based on the second tilt angle and the second amplitude.

[0165] Based on the second downward flapping angle and the second upward flapping angle, a second pulse width modulation signal is generated and transmitted to the servo motor;

[0166] Wherein, the second tilt angle is the angle formed by the bisector of the flapping angle of the second wing and the horizontal line; the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping-wing aircraft, the second wing is the right wing of the flapping-wing aircraft; otherwise, the second wing is the left wing of the flapping-wing aircraft; the second downward flapping angle is the angle formed by the second wing and the horizontal line when it flaps downward to its lowest point; the second upward flapping angle is the angle formed by the second wing and the horizontal line when it flaps upward to its highest point;

[0167] The second servo motor 32 is used to receive the second pulse width modulation signal and control the flapping of the second wing according to the second pulse width modulation signal.

[0168] Those skilled in the art will clearly understand that, for convenience and brevity, the specific working process of the system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0169] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A steering control method for a servo-driven flapping-wing aircraft, comprising: Receive steering control command; wherein the steering control command includes first tilt angle information and first amplitude information; The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude; wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left wing or right wing of the flapping wing aircraft; Based on the first tilt angle and the first amplitude, the first downward flapping angle and the first upward flapping angle are calculated; wherein, the first downward flapping angle is the angle formed by the first wing when it flaps down to the lowest point and the horizontal line; the first upward flapping angle is the angle formed by the first wing when it flaps up to the highest point and the horizontal line. A first pulse width modulation signal is generated based on the first downward flapping angle and the first upward flapping angle; The flapping of the first wing is controlled according to the first pulse width modulation signal; Based on the first tilt angle, a second tilt angle is determined; the determination of the second tilt angle based on the first tilt angle includes: based on the first tilt angle, determining the angle bisector of the flapping angle of the first wing; based on the angle bisector of the flapping angle of the first wing, determining the angle bisector of the flapping angle of the second wing; based on the angle bisector of the flapping angle of the second wing, determining the second tilt angle; wherein, the second tilt angle is the angle formed by the angle bisector of the flapping angle of the second wing and the horizontal line; The second amplitude is determined based on the second tilt angle and the first amplitude; wherein, the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping wing aircraft, the second wing is the right wing of the flapping wing aircraft; otherwise, the second wing is the left wing of the flapping wing aircraft. Based on the second tilt angle and the second amplitude, the second downward flapping angle and the second upward flapping angle are calculated; wherein, the second downward flapping angle is the angle formed by the second wing when it flaps down to the lowest point and the horizontal line; the second upward flapping angle is the angle formed by the second wing when it flaps up to the highest point and the horizontal line. A second pulse width modulation signal is generated based on the second downward flapping angle and the second upward flapping angle; The flapping of the second wing is controlled according to the second pulse width modulation signal.

2. The rudder drive flapping-wing aircraft turning control method according to claim 1, wherein, The step of calculating the first downward pouncing angle and the first upward pouncing angle based on the first tilt angle and the first amplitude includes: The value of the first tilt angle is determined based on the magnitude and direction of the first tilt angle; wherein, the direction of the first tilt angle is based on the horizontal side, and if the non-horizontal side of the first tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction; Calculate the value of the first downward dive angle according to the formula for calculating the first downward dive angle; calculate the value of the first upward dive angle according to the formula for calculating the first upward dive angle; The first downward pouncing angle is determined based on the value of the first downward pouncing angle; the first upward pouncing angle is determined based on the value of the first upward pouncing angle; The formula for calculating the first downward angle is as follows: The value of the first downward angle = the first tilt angle - the first amplitude; The formula for calculating the first upward pouncing angle is: The value of the first upward pouncing angle = the first tilt angle + the first amplitude.

3. The rudder drive flapping-wing aircraft turning control method according to claim 1, wherein, The step of generating a first pulse width modulation signal based on the first downward pouncing angle and the first upward pouncing angle includes: Based on the first downward pouncing angle and the first upward pouncing angle, the pulse width modulation signal is determined according to the preset correspondence between the angle value and the pulse width modulation signal.

4. The steering control method for a servo-driven flapping-wing aircraft as described in claim 1, characterized in that, The step of determining the second amplitude based on the second tilt angle and the first amplitude includes: The formula for calculating the second amplitude is determined based on the direction of the second tilt angle; Calculate the second amplitude based on the first amplitude and according to the formula for calculating the second amplitude. The direction of the second tilt angle is based on the horizontal side. If the non-horizontal side is lower than the horizontal side, it is a negative direction; otherwise, it is a positive direction. The step of determining the second amplitude calculation formula based on the direction of the second tilt angle includes: If the direction of the second tilt angle is positive, then the formula for calculating the second amplitude is: Second amplitude = First amplitude - Preset amplitude difference; If the direction of the second tilt angle is negative, then the formula for calculating the second amplitude is: Second amplitude = First amplitude + Preset amplitude difference.

5. The steering control method for a servo-driven flapping-wing aircraft as described in claim 1, characterized in that, The calculation of the second downward pouncing angle and the second upward pouncing angle based on the second tilt angle and the second amplitude includes: The value of the second tilt angle is determined based on its magnitude and direction; wherein, the direction of the second tilt angle is based on the horizontal side, and if the non-horizontal side of the second tilt angle is lower than the horizontal side, it is a negative direction, otherwise it is a positive direction; Calculate the value of the second downward dive angle according to the formula for calculating the second downward dive angle; calculate the value of the second upward dive angle according to the formula for calculating the second upward dive angle; The second downward pouncing angle is determined based on the value of the second downward pouncing angle; the second upward pouncing angle is determined based on the value of the second upward pouncing angle; The formula for calculating the second downward angle is as follows: The value of the second downward angle = the second tilt angle - the second amplitude; The formula for calculating the second upward pouncing angle is: The value of the second upward pouncing angle = the second tilt angle + the second amplitude.

6. The steering control method for a servo-driven flapping-wing aircraft as described in claim 1, characterized in that, The step of generating a second pulse width modulation signal based on the second downward flapping angle and the second upward flapping angle includes: Based on the second downward flapping angle and the second upward flapping angle, the pulse width modulation signal is determined according to the preset angle value and the correspondence between the pulse width modulation signal.

7. A steering control system for a servo-driven flapping-wing aircraft, comprising: Signal receiver, flight control board, first servo and second servo; The signal receiver is used to receive steering control commands and forward the steering control commands to the flight control board; wherein, the steering control commands include first tilt angle information and first amplitude information; The flight control board is used for: Receive the steering control command; The steering control command is analyzed to obtain the corresponding first tilt angle and first amplitude; The first downward pouncing angle and the first upward pouncing angle are calculated based on the first tilt angle and the first amplitude. Based on the first downward flapping angle and the first upward flapping angle, a first pulse width modulation signal is generated and transmitted to the first servo motor. Based on the first tilt angle, a second tilt angle is determined; the determination of the second tilt angle based on the first tilt angle includes: based on the first tilt angle, determining the angle bisector of the flapping angle of the first wing; based on the angle bisector of the flapping angle of the first wing, determining the angle bisector of the flapping angle of the second wing; based on the angle bisector of the flapping angle of the second wing, determining the second tilt angle. The second amplitude is determined based on the second tilt angle and the first amplitude; The second downward pouncing angle and the second upward pouncing angle are calculated based on the second tilt angle and the second amplitude. Based on the second downward flapping angle and the second upward flapping angle, a second pulse width modulation signal is generated and transmitted to the second servo motor; Wherein, the first tilt angle is the angle formed by the bisector of the flapping angle of the first wing and the horizontal line; the first amplitude is the amplitude of the first wing flapping upward or downward with the bisector of the flapping angle as the reference; the first wing is the left or right wing of the flapping-wing aircraft; the first downward flapping angle is the angle formed by the first wing at its lowest point and the horizontal line; the first upward flapping angle is the angle formed by the first wing at its highest point and the horizontal line; the second tilt angle is the angle formed by the bisector of the flapping angle of the second wing and the horizontal line; the second amplitude is the amplitude of the second wing flapping upward or downward with the bisector of the flapping angle as the reference; when the first wing is the left wing of the flapping-wing aircraft, the second wing is the right wing of the flapping-wing aircraft; otherwise, the second wing is the left wing of the flapping-wing aircraft; the second downward flapping angle is the angle formed by the second wing at its lowest point and the horizontal line; the second upward flapping angle is the angle formed by the second wing at its highest point and the horizontal line; The first servo motor is used to receive the first pulse width modulation signal and control the flapping of the first wing according to the first pulse width modulation signal; The second servo motor is used to receive the second pulse width modulation signal and control the flapping of the second wing according to the second pulse width modulation signal.

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