A direct-drive dragonfly-like flapping-wing aircraft and its control method

Abstract

The present application relates to a direct-drive dragonfly-like flapping-wing aircraft and a control method for the direct-drive dragonfly-like flapping-wing aircraft. The direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-magnifying electrostatic driver, and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4), and a tail (6); the droplet-magnifying electrostatic driver comprises a rigid electrode, a deformable electrode (10), and a dielectric droplet (24); the fuselage (2) is hollowed out internally. , used for placing the control components of the direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connector (3), and the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connector (5); the flapping of the wings (4) and the posture of the tail wing (6) are controlled by the rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet-magnifying electrostatic driver, thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a direct-drive dragonfly-like flapping-wing aircraft and a control method thereof. Background Art

[0002] Dragonflies are among the most exceptional flying creatures in nature, capable of flying backwards, sideways, vertically, and even gliding. Due to their exceptional flight performance, dragonflies have long been a key research topic in the design of biomimetic flapping-wing aircraft. Currently, the primary propulsion system for flapping-wing aircraft is a motor-and-transmission mechanism, which converts the motor's rotational motion into the flapping motions required for the flapping-wing aircraft. However, the presence of the transmission mechanism increases the flapping-wing aircraft's mass and energy loss, while also limiting its flapping frequency and angle, making it difficult to meet the flexible flight requirements of flapping-wing aircraft. Summary of the Invention

[0003] Based on this, it is necessary to provide a direct-drive dragonfly-like flapping-wing aircraft and a control method thereof to address the above technical problems.

[0004] In a first aspect, a direct-drive dragonfly-like flapping-wing aircraft is provided, the direct-drive dragonfly-like flapping-wing aircraft comprising: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-magnifying electrostatic driver and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4) and a tail (6); the droplet-magnifying electrostatic driver comprises a rigid electrode, a deformable electrode (10) and a dielectric droplet (24); the fuselage (2) is hollowed out for placing the The invention relates to a control component of a direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connecting member (3); the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connecting member (5); the flapping of the wings (4) and the posture of the tail wing (6) are controlled by the rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet-magnifying electrostatic driver, thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

[0005] In a second aspect, a control method for a direct-drive dragonfly-like flapping-wing aircraft is provided. The control method is applied to the direct-drive dragonfly-like flapping-wing aircraft. The direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-magnifying electrostatic driver, and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4), and a tail (6); the droplet-magnifying electrostatic driver comprises a rigid electrode, a deformable electrode (10), and a dielectric droplet (24); the fuselage (2) The interior is hollowed out for accommodating the control components of the direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connector (3), and the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connector (5); the flapping of the wings (4) and the posture of the tail wing (6) are controlled by the rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet-magnifying electrostatic driver, thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

[0006] The above-mentioned direct-drive dragonfly-like flapping-wing aircraft and its control method, the direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet amplification electrostatic driver and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4) and a tail (6); the droplet amplification electrostatic driver comprises a rigid electrode, a deformable electrode (10) and a dielectric droplet (24); the fuselage (2) is hollowed out for placing the A control component for a direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connector (3); the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connector (5); the flapping of the wings (4) and the posture of the tail wing (6) are controlled by rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet-magnifying electrostatic driver, thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a structural diagram of a direct-drive dragonfly-like flapping-wing aircraft according to an embodiment;

[0008] Figure 2 A circuit diagram of a control component of a direct-drive dragonfly-like flapping-wing aircraft according to one embodiment;

[0009] Figure 3 A structural diagram of a droplet amplification electrostatic actuator according to one embodiment;

[0010] Figure 4 Schematic diagram of the structure of a direct-drive dragonfly-like flapping-wing aircraft in one embodiment; DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0012] In one embodiment, Figure 1 As shown, a structural diagram of a direct-drive dragonfly-like flapping-wing aircraft is provided.

[0013] The direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-amplifying electrostatic driver, and a control component;

[0014] The direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4) and a tail wing (6);

[0015] The droplet amplification electrostatic actuator includes a rigid electrode, a deformable electrode and a dielectric droplet;

[0016] The interior of the fuselage (2) is hollowed out for accommodating the control components of the direct-drive dragonfly-like flapping-wing aircraft;

[0017] The wing (4) is connected to the droplet amplification electrostatic driver via a first connection member (3), and the tail wing (6) is connected to the droplet amplification electrostatic driver via a second connection member (5);

[0018] The rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet amplification electrostatic driver are used to control the flapping of the wings (4) and the posture of the tail wing (6), thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

[0019] like Figure 4 The figure shows the structure of the fuselage of a direct-drive dragonfly-like flapping-wing aircraft, in which: Figure 4 (7) is the upper cover of the fuselage.

[0020] In the embodiment of the present invention, the nose (1), the fuselage (2) and the tail (6) are streamlined as a whole, so that the direct-drive dragonfly-like flapping-wing aircraft has good aerodynamic performance.

[0021] like Figure 3 Figure 2 shows the structure of the droplet amplification electrostatic actuator.

[0022] The rigid electrode comprises a first rigid electrode and a second rigid electrode; the first rigid electrode comprises: an upper rigid substrate (8), a thin film electrode (11) and an insulating layer (12); the second rigid electrode comprises: a lower rigid substrate (9), a thin film electrode (11) and an insulating layer (12);

[0023] Voltage is alternately applied between the deformable electrode (10) and the rigid electrode, so that the deformable electrode (10) directly generates flapping motion. The alternating frequency of the applied voltage is controlled to control the flapping frequency, and the magnitude of the applied voltage is controlled to control the flapping amplitude, thereby generating the flapping motion required by the direct-drive dragonfly-like flapping-wing aircraft.

[0024] The driving force of the droplet amplification electrostatic actuator is electrostatic force, and an insulating layer film with a high dielectric constant is used to reduce the driving voltage of the droplet amplification electrostatic actuator to generate the electrostatic force to manipulate the dielectric droplet (24).

[0025] The dielectric droplets (24) prevent the generation of high voltage between the electrodes to cause ionization of the air, thereby avoiding a reduction in driving force and unstable driving performance.

[0026] In an embodiment of the present invention, a droplet-magnifying electrostatic actuator utilizes Coulomb force as a driving force. The droplet-magnifying electrostatic actuator used in flapping-wing aircraft consists of two curved rigid electrodes (the rigid electrodes are composed of a rigid substrate, a thin-film electrode, and an insulating layer), a deformable electrode, and a dielectric droplet. The area between the electrodes, excluding the dielectric droplet, is air. Its operating principle is as follows: A voltage is applied between one of the rigid electrodes and the deformable electrode. The charged electrodes generate a Coulomb force, which causes the deformable electrode to deform toward the rigid electrode. Alternating voltages between the two rigid electrodes and the deformable electrode generates the flapping motion required by flapping-wing aircraft. Controlling the alternating frequency of the applied voltages controls the flapping frequency, and controlling the magnitude of the applied voltages controls the flapping frequency, thereby generating the desired flapping motion.

[0027] The insulating layer prevents short circuits between the electrodes. Using a film with a high dielectric constant as the insulating layer effectively reduces the driving voltage. The dielectric droplets prevent the high voltage between the electrodes from ionizing the air, thereby reducing the driving force and causing unstable driving performance.

[0028] In an optional embodiment, a three-dimensional model is designed using three-dimensional computer-aided design software (such as Solid Works) to obtain three-dimensional models of the nose (1), the fuselage (2) and the tail (6), and the three-dimensional model is printed using a polylactic acid (PLA) material using a 3D printer to obtain the nose (1), the fuselage (2) and the tail (6); the wings (4) are made of carbon fiber material and PET film, the frame is made of carbon fiber material, and the PET film is bonded together with glue.

[0029] In an optional embodiment, the upper rigid base (8) and the lower rigid base (9) are completed by 3D printing of polylactic acid (PLA) material;

[0030] The thin film electrode (11) and the thin film electrode (11) use acrylic thin film electrodes;

[0031] The insulating layer (12) and the insulating layer (12) are protected and fixed using vinyl chloride tape;

[0032] The deformable electrode (10) is made of a stainless steel thin plate;

[0033] The dielectric droplets (24) are selected from silicone oil;

[0034] The surface energy of the deformable electrode (10) and the insulating layer is changed by a surface treatment device so that the dielectric droplet (24) remains in the droplet amplification electrostatic actuator.

[0035] In the embodiment of the present invention, since the volume of the dielectric droplet (24) is very small, the surface energy of the deformable electrode (10) and the insulating layer can be changed by a surface treatment device, thereby affecting the adsorption and retention capabilities of the droplet, so that the dielectric droplet (24) is retained in the droplet amplification electrostatic drive.

[0036] In the embodiments of the present invention, the droplet-amplifying electrostatic actuator is an optimized design for an electrostatic actuator. By adding dielectric droplets to the electrostatic actuator, it retains the advantages of the electrostatic actuator, such as low power consumption, light weight, and simple control, while also amplifying the electrostatic force through the dielectric droplets, compensating for the shortcomings of the electrostatic actuator, such as low driving force and displacement.

[0037] Among them, the driving force of the droplet magnification electrostatic actuator is electrostatic force. The use of an insulating layer film with a high dielectric constant (the insulating layer film is an insulating layer in the form of a film) can effectively reduce the driving voltage of the droplet magnification electrostatic actuator.

[0038] In alternative embodiments, the materials used to manufacture the droplet amplification electrostatic actuator can be modified as long as they meet performance requirements. For example, the rigid substrate can be replaced with other lightweight plastics, the electrodes can be replaced with carbon or metal electrodes, the deformable electrodes can be replaced with a composite of a thin film electrode and a non-conductive material, the insulating layer can be replaced with materials such as PI, barium titanate, or a custom-made high-dielectric-constant thin film material, and the dielectric liquid can be an insulating oil such as transformer oil.

[0039] In one embodiment, Figure 2As shown, a circuit structure diagram of the control component of a direct-drive dragonfly-like flapping-wing aircraft is provided. The control component includes: a wireless control module, a central control module, a high-voltage output module, and a high-voltage conditioning module; the wireless control module includes: a remote control and a signal receiver; the central control module is a microprocessor; the high-voltage conditioning module is a high-voltage optocoupler module; the high-voltage output module includes a battery, a switch, a boost module, a voltage control module, and a high-voltage power supply connected in sequence; the remote control is connected to the signal receiver; the signal receiver is connected to the microprocessor; the microprocessor is connected to the voltage control module, the microprocessor is connected to the high-voltage optocoupler module; the high-voltage optocoupler module is connected to the high-voltage power supply;

[0040] The remote controller is configured to generate the control signal and send the control signal to the wireless control module;

[0041] The wireless control module is used to send the control signal to the microprocessor;

[0042] The microprocessor is used to convert the control signal into a high-voltage control signal, and send the high-voltage control signal to the voltage control module and the high-voltage optical coupler module;

[0043] The voltage control module is configured to output a required voltage to the high-voltage power supply based on the high-voltage control signal, so as to control the flapping amplitude of the direct-drive dragonfly-like flapping-wing aircraft;

[0044] The high-voltage optocoupler module controls the on-off of the high-voltage power supply based on the high-voltage control signal, thereby controlling the flapping frequency of the droplet amplifying electrostatic actuator in the direct-drive dragonfly-like flapping-wing aircraft.

[0045] The battery can be a miniature lithium battery. The boost module adjusts the output voltage of the lithium battery to the required voltage. The microprocessor controls the voltage supplied to the high-voltage power supply through the voltage control module to achieve the purpose of controlling the high-voltage output and thus the flapping amplitude of the actuator.

[0046] Among them, the high-voltage power supply is connected to the high-voltage optocoupler module, and the circuit is turned on and off by the microprocessor to achieve the effect of high-voltage control signal control. The controlled high-voltage control signal is connected to the droplet amplification electrostatic driver to achieve the effect of controlling the driver's flapping frequency.

[0047] In the prior art, different flapping-wing aircraft have different and multiple requirements for drivers, and the prior art can only meet some of these requirements. The existing flapping-wing aircraft flight modes have their own advantages and disadvantages, and different driving modes have their own advantages and disadvantages. However, it is difficult to meet the full range of driver performance requirements of flapping-wing aircraft. In this application, the above-mentioned control component (also referred to as a control circuit) is innovatively invented. The control component is a new aircraft control component, which is designed for the driver. Based on this control component, the full range of driver performance requirements of flapping-wing aircraft can be met. For example, it is possible to realize a low-voltage driven droplet amplification electrostatic driver direct drive structure to produce flapping motion, and it is also possible to realize untethered flapping-wing direct drive control at the same time. In addition to meeting the above two requirements, it can also meet other requirements without causing other problems.

[0048] In one embodiment, a control method for a direct-drive dragonfly-like flapping-wing aircraft is provided. The control method is applied to the direct-drive dragonfly-like flapping-wing aircraft, wherein the direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-magnifying electrostatic driver, and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4), and a tail wing (6); the droplet-magnifying electrostatic driver comprises a rigid electrode, a deformable electrode (10), and a dielectric droplet (24); the fuselage (2) is hollowed out for accommodating the control component of the direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connector (3), and the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connector (5);

[0049] The rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet amplification electrostatic driver are used to control the flapping of the wings (4) and the posture of the tail wing (6), thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

[0050] In one embodiment, the rigid electrode comprises a first rigid electrode and a second rigid electrode; the first rigid electrode comprises: an upper rigid substrate (8), a thin film electrode (11) and an insulating layer (12); the second rigid electrode comprises: a lower rigid substrate (9), a thin film electrode (11) and an insulating layer (12);

[0051] The method of controlling the flapping of the wing (4) and the posture of the tail (6) by using the rigid electrode, the deformable electrode (10) and the dielectric droplet (24) of the droplet amplification electrostatic actuator comprises:

[0052] A voltage is alternately applied between the deformable electrode (10) and the rigid electrode, so that the deformable electrode (10) directly generates flapping motion. The alternating frequency of the applied voltage is controlled to control the flapping frequency, and the magnitude of the applied voltage is controlled to control the flapping frequency, thereby generating the flapping motion required by the direct-drive dragonfly-like flapping-wing aircraft.

[0053] In one embodiment, the method further comprises:

[0054] The driving force of the droplet amplification electrostatic actuator is an electrostatic force, and a high dielectric constant insulating film is used to reduce the driving voltage of the droplet amplification electrostatic actuator to generate the electrostatic force to manipulate the dielectric droplet (24);

[0055] The dielectric droplets (24) prevent high voltage from being generated between the electrodes to cause ionization of the air, thereby avoiding a reduction in driving force and unstable driving performance.

[0056] It should be understood that there is no strict order restriction for executing the above steps, and these steps can be executed in other orders. Moreover, at least a portion of the above steps may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of executing these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0057] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A direct-drive dragonfly-like flapping-wing aircraft, characterized in that: The direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-amplifying electrostatic driver, and a control component; The direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4), and a tail (6); The droplet amplification electrostatic actuator comprises a rigid electrode, a deformable electrode (10) and a dielectric droplet (24); The interior of the fuselage (2) is hollowed out for accommodating the control components of the direct-drive dragonfly-like flapping-wing aircraft; The wing (4) is connected to the droplet amplification electrostatic driver via a first connection member (3), and the tail wing (6) is connected to the droplet amplification electrostatic driver via a second connection member (5); The rigid electrode, the deformable electrode (10) and the dielectric droplet (24) of the droplet amplification electrostatic driver are used to control the flapping of the wing (4) and the posture of the tail (6), thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft; The rigid electrode comprises a first rigid electrode and a second rigid electrode; the first rigid electrode comprises an upper rigid substrate (8), a thin film electrode (11) and an insulating layer (12); the second rigid electrode comprises a lower rigid substrate (9), a thin film electrode (11) and an insulating layer (12); a voltage is alternately applied between the deformable electrode (10) and the rigid electrode, so that the deformable electrode (10) directly generates a flapping motion, the alternating frequency of the applied voltage is controlled to control the flapping frequency, and the magnitude of the applied voltage is controlled to control the flapping amplitude, thereby generating the flapping motion required by the direct-drive dragonfly-like flapping-wing aircraft; Among them, the driving force of the droplet magnification electrostatic actuator is electrostatic force. An insulating layer film with a high dielectric constant is used to reduce the driving voltage of the droplet magnification electrostatic actuator to generate the electrostatic force to control the wings and tail of the direct-drive dragonfly-like flapping-wing aircraft.

2. The direct-drive dragonfly-like flapping-wing aircraft according to claim 1, characterized in that: The dielectric droplets (24) prevent the high voltage between the electrodes from causing the air to be ionized, thereby avoiding a reduction in driving force and unstable driving performance.

3. The direct-drive dragonfly-like flapping-wing aircraft according to claim 1, characterized in that: A three-dimensional model is designed using three-dimensional computer-aided design software to obtain three-dimensional models of the nose (1), the fuselage (2) and the tail (6), and the three-dimensional model is printed using a polylactic acid material using a 3D printer to obtain the nose (1), the fuselage (2) and the tail (6); the wings (4) are made of carbon fiber material and PET film, the frame is made of carbon fiber material, and the PET film is bonded together with glue.

4. The direct-drive dragonfly-like flapping-wing aircraft according to claim 3, characterized in that: The upper rigid base (8) and the lower rigid base (9) are completed by 3D printing of polylactic acid material; The thin film electrode (11) and the thin film electrode (11) use acrylic thin film electrodes; The insulating layer (12) and the insulating layer (12) are protected and fixed using vinyl chloride tape; The deformable electrode (10) is made of a stainless steel sheet; The dielectric droplets (24) are selected from silicone oil; The surface energy of the deformable electrode (10) and the insulating layer (12) is changed by a surface treatment device, so that the dielectric droplet (24) remains in the droplet amplification electrostatic actuator.

5. The direct-drive dragonfly-like flapping-wing aircraft according to claim 3, characterized in that: The control assembly includes: a wireless control module, a central control module, a high-voltage output module and a high-voltage control module; the wireless control module includes: a remote control and a signal receiver; the central control module is a microprocessor; the high-voltage control module is a high-voltage optocoupler module; the high-voltage output module includes a battery, a switch, a boost module, a voltage control module and a high-voltage power supply connected in sequence; the remote control is connected to the signal receiver; the signal receiver is connected to the microprocessor; the microprocessor is connected to the voltage control module, the microprocessor is connected to the high-voltage optocoupler module; the high-voltage optocoupler module is connected to the high-voltage power supply; The remote controller is configured to generate a control signal and send the control signal to the wireless control module; The wireless control module is used to send the control signal to the microprocessor; The microprocessor is used to convert the control signal into a high-voltage control signal, and send the high-voltage control signal to the voltage control module and the high-voltage optical coupler module; The voltage control module is configured to output a required voltage to the high-voltage power supply based on the high-voltage control signal, so as to control the flapping amplitude of the direct-drive dragonfly-like flapping-wing aircraft; The high-voltage optocoupler module controls the on-off of the high-voltage power supply based on the high-voltage control signal, thereby controlling the flapping frequency of the direct-drive dragonfly-like flapping-wing aircraft.

6. A control method for a direct-drive dragonfly-like flapping-wing aircraft, characterized in that: The control method is applied to a direct-drive dragonfly-like flapping-wing aircraft according to any one of claims 1 to 5, wherein the direct-drive dragonfly-like flapping-wing aircraft comprises: a direct-drive dragonfly-like flapping-wing aircraft body, a droplet-magnifying electrostatic driver and a control component; the direct-drive dragonfly-like flapping-wing aircraft body comprises: a nose (1), a fuselage (2), two pairs of wings (4) and a tail wing (6); the droplet-magnifying electrostatic driver comprises a rigid electrode, a deformable electrode (10) and a dielectric droplet (24); the fuselage (2) is hollowed out for accommodating the control component of the direct-drive dragonfly-like flapping-wing aircraft; the wings (4) are connected to the droplet-magnifying electrostatic driver via a first connector (3), and the tail wing (6) is connected to the droplet-magnifying electrostatic driver via a second connector (5); The rigid electrodes, deformable electrodes (10) and dielectric droplets (24) of the droplet amplification electrostatic driver are used to control the flapping of the wings (4) and the posture of the tail wing (6), thereby achieving the purpose of controlling the flight of the direct-drive dragonfly-like flapping-wing aircraft.

7. The control method of the direct-drive dragonfly-like flapping-wing aircraft according to claim 6, characterized in that: The rigid electrode includes a first rigid electrode and a second rigid electrode; The first rigid electrode comprises: an upper rigid substrate (8), a thin film electrode (11) and an insulating layer (12); the second rigid electrode comprises: a lower rigid substrate (9), a thin film electrode (11) and an insulating layer (12); The control of the flapping of the wing (4) and the posture of the tail (6) by the rigid electrode, the deformable electrode (10) and the dielectric droplet (24) of the droplet amplification electrostatic actuator comprises: A voltage is alternately applied between the deformable electrode (10) and the rigid electrode, causing the deformable electrode (10) to directly generate a flapping motion. The alternating frequency of the applied voltage is controlled to control the flapping frequency, and the magnitude of the applied voltage is controlled to control the flapping frequency, thereby generating the flapping motion required by the direct-drive dragonfly-like flapping-wing aircraft.

8. The control method of the direct-drive dragonfly-like flapping-wing aircraft according to claim 7, characterized in that: The method further comprises: The driving force of the droplet amplification electrostatic actuator is an electrostatic force, and a high dielectric constant insulating film is used to reduce the driving voltage of the droplet amplification electrostatic actuator to generate the electrostatic force to manipulate the dielectric droplet (24); The dielectric droplets (24) prevent high voltage from being generated between the electrodes, causing air ionization, thereby avoiding a reduction in driving force and unstable driving performance.

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