Multi-direction motion control device and control method of spider-imitating micro aircraft

Abstract

The multi-direction motion control device comprises an electrode plate supporting box body, the lower portion of the inner side of the electrode plate supporting box body is connected with a lower electrode plate, and the lower electrode plate is connected with a prototype hanging support; the upper part of the inner side of the electrode plate supporting box body is connected with an upper electrode plate supporting body; upper electrode plates are respectively arranged at a plurality of corners below the upper electrode plate supporting body; a high-voltage direct-current power supply is connected to the outer side of the electrode plate supporting box body and is connected with the upper electrode plate and the lower electrode plate, and a feedback control end of the high-voltage direct-current power supply is connected with the motion control unit; the high-voltage direct-current power supply is started through the motion control unit, and the voltage of the upper electrode plate array is controlled to rise, so that the prototype moves vertically upwards, in the direction of a certain upper electrode plate or in the direction between two upper electrode plates; the structure is compact, the electric field distribution can be accurately shaped, the voltage-withstanding insulation and discharge risk is low, the electric field can be reconstructed, and the multi-direction stress decoupling is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of micro air vehicle control, and in particular to a multi-directional motion control device and control method for a spider-like micro air vehicle. BACKGROUND

[0002] With the development of micro-nano manufacturing, power electronics and intelligent control technology, the application demand of micro air vehicles in emergency detection, complex space inspection, agricultural monitoring, national defense reconnaissance and dangerous environment operation fields is rapidly growing. However, when the size of the aircraft is reduced to centimeter or millimeter level, the thrust-to-weight ratio of traditional rotor or flapping wing driven decreases, the mechanical structure processing and durability are limited, and the noise, airflow interference and energy consumption increase significantly, which is not suitable for long-term operation in narrow or sensitive environment; in addition, due to the driving efficiency and heat dissipation limitation, the existing micro rotor system has insufficient endurance when hovering for a long time, which cannot meet the continuous operation demand, and the lightweight and controllable micro air vehicle is a key problem.

[0003] Spider-like micro air vehicles use high-voltage electric field to act on light filaments or distributed electrodes to generate thrust in the form of electrostatic force, which can work without rotating parts, low noise and low mechanical wear, and has simple structure, light weight and low energy consumption, which is easy to miniaturize and package, suitable for performing tasks in narrow space and noise sensitive places, and has good development and application prospect. The current spider-like micro air vehicle is still in the initial research stage, and there is no corresponding control device for multi-degree-of-freedom flight of micro air vehicles. The current existing literature is mostly related to ion wind propulsion, but there are some deficiencies.

[0004] In order to realize that the ion wind generated by the high-voltage electrode can generate greater thrust, the patent application with the title of "a ring-shaped ion wind propulsion device and its operation method" (publication number: CN118793581A) discloses that it is composed of a ring-shaped emitter and a ring-shaped ground end, the emitter outer circle is uniformly distributed with a sharp end discharge electrode (sawtooth or cone), both are connected to a high-voltage power supply to trigger a corona above 5kV and form an electric field in the ring gap, and the total thrust is improved by using the superposition of ion wind and the airflow driven in the ring; although the structure proposes various ground end forms, it does not give the multi-channel independent driving and closed-loop strategy required for three-dimensional attitude / lateral vector control demonstration.

[0005] In order to improve the performance of the plasma jet and reduce the volume of the plasma jet device, the patent application named "plasma jet device based on ion wind driving" (publication number: CN119277627A) is installed with a high-voltage metal needle electrode plate, a plurality of high-voltage metal needle electrodes are fixed in the form of a ring array on the high-voltage metal needle electrode plate and connected with the high-voltage excitation power circuit, the needle body of the high-voltage metal needle electrode and the insulating medium ring and the metal wall ground electrode constitute the plasma jet structure, the needle head of the high-voltage metal needle electrode and the metal wall ground electrode constitute the ion wind generation structure, the ion wind generation area and the plasma generation area are staggered, and the generation of the plasma jet is driven by multiple stages of ion wind; but the model or standardized test process of the key parameters (electrode spacing, layer number, etc.) of the multiple stages in series is not given.

[0006] In summary, there is no relevant literature published in the field of micro air vehicle control technology, so it is urgent to design an electric field motion control for a micro air vehicle to realize multi-angle electric field flight motion of the prototype. SUMMARY

[0007] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a multi-directional motion control device and control method for a spider-like micro air vehicle, which has the advantages of compact structure, accurate shaping of electric field distribution, low risk of voltage insulation and discharge, reconfigurable electric field, and multi-directional force decoupling.

[0008] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is:

[0009] A multi-directional motion control device for a spider-like micro air vehicle, comprising an electrode plate support box body 1, a lower electrode plate 6 connected to the inside lower part of the electrode plate support box body 1, and a prototype suspension bracket 5 connected to the upper part of the electrode plate support box body 1; an upper electrode plate support body 3 connected to the inside upper part of the electrode plate support box body 1, and a plurality of upper electrode plates 2 arranged on the lower surface of the upper electrode plate support body 3; a high-voltage direct current power supply 4 connected to the upper surface of the outside of the electrode plate support box body 1, a positive electrode of the high-voltage direct current power supply 4 connected to the upper electrode plate 2, a negative electrode of the high-voltage direct current power supply 4 connected to the lower electrode plate 6, and a feedback control end of the high-voltage direct current power supply 4 connected to a motion control unit 7.

[0010] The electrode plate support box body 1 is made of wood material, and the length, width and height of the electrode plate support box body 1 depend on the size and spacing of the upper and lower electrode plates.

[0011] The upper electrode plate 2 and the lower electrode plate 6 are aluminum electrode plates, and the four upper electrode plates 2 constitute an upper electrode plate array; the spacing between the upper electrode plate 2 and the lower electrode plate 6 is adjusted between 100mm-500mm.

[0012] The direct current high-voltage power supply 4 is a lithium battery, which generates controllable 0-15kV 10.1mA direct current high-voltage by inputting 24V; the direct current high-voltage power supply 4 is composed of a flyback controller, a flyback transformer and a voltage doubling rectifier circuit, and provides controllable high-voltage electric field environment for the spider-like micro air vehicle.

[0013] The prototype suspension support 5 is an L-shaped conductive support made of red copper wire, which is used for suspending the spider-like micro air vehicle prototype to the middle position between the upper electrode plate 2 and the lower electrode plate 6.

[0014] The motion control unit 7 is used for adjusting the output voltage of the direct current high-voltage power supply 4 and controlling the on-off of the direct current high-voltage power supply 4 and the upper electrode plate array.

[0015] A control method of a multi-direction motion control device of a spider-like micro air vehicle, comprising the following steps:

[0016] S1, preparing a prototype of the spider-like micro air vehicle;

[0017] S2, suspending the prototype on the prototype suspension support 5;

[0018] S3, connecting the positive electrode of the direct current high-voltage power supply 4 to the upper electrode plate array, connecting the negative electrode to the lower electrode plate 6, and connecting the feedback control end of the direct current high-voltage power supply 4 to the motion control unit 7;

[0019] S4, starting the high-voltage direct current power supply 4 through the motion control unit 7, controlling the voltage rise of the upper electrode plate array so that the prototype realizes vertical upward motion;

[0020] S5, after the prototype realizes vertical upward motion, disconnecting the voltage of any other upper electrode plate 2 through the motion control unit 7, and only keeping the high-voltage of one upper electrode plate 2, at this time, the prototype moves to the direction of the upper electrode plate 2 with high-voltage;

[0021] S6, repeating the operation of step S5, respectively making the upper electrode plates 2 in other directions conductive and the remaining upper electrode plates 2 disconnected, so as to realize the motion of the prototype in the three-dimensional space in the azimuth angle of the conductive upper electrode plates 2;

[0022] S7, making the voltage of two upper electrode plates 2 rise at the same time through the motion control unit 7, at this time, the prototype moves to the direction between the two upper electrode plates.

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] 1. Since the application adopts "upper electrode plate array + independent on-off and voltage-regulated motion control unit (with feedback)", the electric field can be reconstructed without increasing mechanical components, realizing three-dimensional / eight-direction maneuvering such as vertical, single plate orientation and double plate synthetic vector, etc. The lateral force is more easily adjusted independently, and the control precision and flexibility are significantly improved.

[0025] 2. Since the application integrates a lithium battery-powered high-voltage DC power supply directly connected to the array electrode, the device volume and mass are controllable, the output voltage is programmable, and the device is easy to integrate and miniaturize, making it more convenient for on-site deployment.

[0026] 3. Since the distance between the upper electrode plate and the lower electrode plate can be adjusted, the thrust-field strength-stability can be optimized according to the task scenario, taking into account the needs of take-off, hovering and lateral maneuvering.

[0027] 4. Since the control method adopts "single plate conduction orientation / double plate simultaneous conduction synthetic vector", thrust vectorization is realized without mechanical rotating components, with the advantages of low noise, low wear and easy maintenance of solid-state propulsion.

[0028] In summary, the application can realize multi-directional motion control of spider-like micro air vehicles, with the system-level advantages of "compact structure, accurate electric field shaping, force decoupling and reconfigurability", supporting three-dimensional multi-degree-of-freedom control for engineering applications. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic diagram of the control device of the embodiment of the application.

[0030] Figure 2 is a top view of the control device of the embodiment of the application.

[0031] Figure 3 is a schematic diagram of the high-voltage DC power supply of the embodiment of the application.

[0032] Figure 4 is a flowchart of the control method of the embodiment of the application.

[0033] In the figure: 1, electrode plate support box; 2, upper electrode plate; 3, upper electrode plate support; 4, high-voltage DC power supply; 5, prototype suspension bracket; 6, lower electrode plate; 7, motion control unit. DETAILED DESCRIPTION

[0034] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0035] As shown in Figure 1 , Figure 2 , a multi-directional motion control device of a spider-like micro air vehicle comprises an electrode plate support box 1, a lower electrode plate 6 connected to the inner lower part of the electrode plate support box 1, and a prototype suspension bracket 5 connected to the upper part of the electrode plate support box 1; an upper electrode plate support body 3 connected to the inner upper part of the electrode plate support box 1, and four upper electrode plates 2 arranged at the lower surface of the upper electrode plate support body 3; a high-voltage direct-current power supply 4 connected to the outer upper surface of the electrode plate support box 1, and the positive electrode of the high-voltage direct-current power supply 4 is electrically connected to the upper electrode plate 2, and the negative electrode of the high-voltage direct-current power supply 4 is electrically connected to the lower electrode plate 6, and a motion control unit 7 connected to the feedback control end of the high-voltage direct-current power supply 4.

[0036] The electrode plate support box 1 is built of wood material, used for fixing the upper electrode plate 2 and the lower electrode plate 6, and ensuring the relative distance between the two, and at the same time, making the whole experimental device have safe insulation protection, and the length, width and height of the electrode plate support box 1 depend on the size and distance of the upper and lower electrode plates.

[0037] The upper electrode plate 2 is an aluminum electrode plate with a size of 400mm*400mm and a thickness of 1.5mm, and four aluminum electrode plates constitute an upper electrode plate array, and each upper electrode plate 2 has a distance of 400mm, and the edges are rounded to avoid point discharge, and the upper electrode plate array is connected to the positive electrode of the high-voltage direct-current power supply 4 to generate a positive high-voltage electric field.

[0038] The upper electrode plate support body 3 is used for fixing the upper electrode plate array to the same horizontal plane, and fixing the relative distance between the upper electrode plates 2, and also used for fixing the upper electrode plate array on the electrode plate support box 1.

[0039] The direct-current high-voltage power supply 4 is a lithium battery, which can generate controllable 0-15kV 10.1mA direct-current high voltage when inputting 24V; the direct-current high-voltage power supply 4 is composed of a flyback controller, a flyback transformer and a voltage doubling rectifier circuit, the positive electrode is connected to the upper electrode plate array, and the negative electrode is connected to the lower electrode plate 6, and the direct-current high-voltage power supply 4 provides a controllable high-voltage electric field environment for the spider-like micro air vehicle. Figure 3The direct current high voltage power supply 4 comprises a 24V input power supply V1, an input filter capacitor C11, a MOSFET high voltage switch Q1, a current limiting resistor R1, a flyback transformer T1, capacitors C1-C10 and diodes D1-D10 for forming a voltage doubling rectifier circuit, and a motion control unit 7; the MOSFET high voltage switch Q1 converts the 24V direct current voltage into an alternating current voltage input to the flyback transformer T1 through a PWM signal wave input by the motion control unit 7, the flyback transformer T1 boosts the alternating current voltage to 760V through a turns ratio of 26:820 of the flyback transformer T1, the capacitors C1-C10 and the diodes D1-D10 are connected in parallel to form a voltage doubling rectifier circuit for rectifying and boosting the alternating current voltage output by the flyback transformer into a 15kV direct current voltage; the MOSFET high voltage switch Q1 and the motion control unit 7 form a flyback controller to realize output control of the direct current high voltage power supply; the output positive pole of the whole high voltage direct current power supply is led out from the negative pole of the diode D10 of the voltage doubling rectifier circuit, and the output negative pole is led out from the positive pole of the diode D1 of the voltage doubling rectifier circuit.

[0040] The prototype suspension bracket 5 is an L-shaped conductive bracket of purple copper wire, the bracket height is 230mm, and the bracket is fixed on the lower electrode plate 6 and used for suspending the spider-like micro air vehicle prototype to the middle position between the upper electrode plate 2 and the lower electrode plate 6, so as to facilitate reliable take-off of the air vehicle prototype in the electric field.

[0041] The lower electrode plate 6 is an aluminum electrode plate with a size of 1200mm*1200mm and a thickness of 1.5mm, the lower electrode plate 6 is connected with the negative pole of the direct current high voltage power supply 4, and the distance between the lower electrode plate 6 and the upper electrode plate array is 400mm, and the two constitute a parallel electric field to provide a high voltage electric field for flight of the spider-like micro air vehicle prototype.

[0042] The motion control unit 7 is used for adjusting the output voltage of the direct current high voltage power supply 4 and controlling the on-off of the direct current high voltage power supply 4 and the upper electrode plate array, so as to control the flight motion of the air vehicle prototype; the motion control unit 7 comprises a microcontroller (stm32) and an upper computer.

[0043] Referring to Figure 4 A control method of a multi-direction motion control device of a spider-like micro air vehicle, comprising the following steps:

[0044] S1, preparing a prototype of a spider-like micro air vehicle, the driving part of the prototype is composed of 14 silver-containing chinlon fibers with a length of 150mm, and each silver-containing chinlon fiber is distributed on a conductive aluminum foil with a length of 85mm and a width of 2mm at an interval of 5mm;

[0045] S2, suspending the prototype on the prototype suspension bracket 5 fixed on the lower electrode plate 6 by using fine cotton fibers, so that the air vehicle prototype is located in the center of the upper electrode plate 2 and the lower electrode plate 6;

[0046] S3, connecting the positive pole of the direct current high voltage power supply 4 to the upper electrode plate array, connecting the negative pole to the lower electrode plate 6, and connecting the feedback control end of the direct current high voltage power supply 4 to the motion control unit 7;

[0047] S4, starting the high voltage direct current power supply 4 through the motion control unit 7, controlling the voltage of the upper electrode plate array to gradually rise to about 10kV, so that the prototype overcomes the gravity to realize suspension, and then gradually rising the voltage to 12kV to make the prototype receive the electric field force greater than the gravity, realizing the vertical upward movement;

[0048] S5, after the prototype realizes the vertical upward movement, disconnecting the voltage of any three upper electrode plates 2 through the motion control unit 7, and only keeping the 12kV high voltage of one upper electrode plate 2, at this time the prototype can move towards the direction of the upper electrode plate 2;

[0049] S6, similarly, when the prototype is suspended in the initial position, the voltage of a certain upper electrode plate 2 in the upper electrode plate array can be directly started through the motion control unit 7, so that the voltage of the upper electrode plate gradually increases to more than 12kV, so that the prototype moves in the direction of the upper electrode plate in the initial state; it is worth mentioning that the control of the movement direction of the prototype through the starting of the voltage of a certain upper electrode plate in the upper electrode plate array can only realize the movement control of the four corners;

[0050] S7, on the basis of the movement direction, the voltage of two upper electrode plates 2 can be simultaneously raised through the motion control unit 7, at this time the prototype moves in the direction between the two upper electrode plates, and the above steps can be repeated to realize the movement control of a total of eight directions.

[0051] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-directional motion control device for a spider-mimicking micro air vehicle comprising an electrode plate support box (1), characterized in that: The lower electrode plate (6) is connected to the inner lower part of the electrode plate support box (1), and the prototype suspension bracket (5) is connected to the upper part of the lower electrode plate (6); the upper electrode plate support body (3) is connected to the inner upper part of the electrode plate support box (1), and the upper electrode plate (2) is arranged on the lower surface of the upper electrode plate support body (3); the high-voltage direct-current power supply (4) is connected to the outer upper surface of the electrode plate support box (1), the positive electrode of the high-voltage direct-current power supply (4) is electrically connected with the upper electrode plate (2), the negative electrode of the high-voltage direct-current power supply (4) is electrically connected with the lower electrode plate (6), and the feedback control end of the high-voltage direct-current power supply (4) is connected with the motion control unit (7).

2. The apparatus of claim 1, wherein: The electrode plate support box (1) is built by wood material, and the length, width and height of the electrode plate support box (1) depend on the size and spacing of the upper and lower electrode plates.

3. The apparatus of claim 1, wherein: The upper electrode plate (2) and the lower electrode plate (6) are aluminum electrode plates, and the four upper electrode plates (2) form an upper electrode plate array. The spacing between the upper electrode plate (2) and the lower electrode plate (6) is adjusted between 100-500mm.

4. The apparatus of claim 1, wherein: The direct-current high-voltage power supply (4) is a lithium battery, which generates controllable 0-15kV 10.1mA direct-current high voltage with an input of 24V; the direct-current high-voltage power supply (4) is composed of a flyback controller, a flyback transformer and a voltage doubling rectifier circuit, and provides a controllable high-voltage electric field environment for the spider-like micro air vehicle.

5. The apparatus of claim 1, wherein: The prototype suspension bracket (5) is a L-shaped conductive bracket made of red copper wire, which is used to suspend the spider-like micro air vehicle prototype to the middle position between the upper electrode plate (2) and the lower electrode plate (6).

6. The apparatus of claim 1, wherein: The motion control unit (7) is used to adjust the output voltage of the direct-current high-voltage power supply (4) and control the on-off of the direct-current high-voltage power supply (4) and the upper electrode plate array.

7. A control method of a multidirectional motion control device of a spider-mimicking micro air vehicle according to any one of claims 1 to 6, characterized by, The method comprises the following steps: S1, preparing a prototype of a spider-like micro air vehicle; S2, suspending the prototype on the prototype suspension bracket (5); S3, connecting the positive electrode of the direct-current high-voltage power supply (4) to the upper electrode plate array, connecting the negative electrode to the lower electrode plate (6), and connecting the feedback control end of the direct-current high-voltage power supply (4) to the motion control unit (7); S4, starting the high-voltage direct-current power supply (4) through the motion control unit (7) to control the voltage rise of the upper electrode plate array so that the prototype realizes vertical upward movement; S5, after the prototype realizes vertical upward movement, disconnecting the voltage of any other upper electrode plate (2) through the motion control unit (7) and only keeping the high voltage of one upper electrode plate (2), at this time the prototype moves to the direction of the upper electrode plate (2) with high voltage; S6, repeating the operation of step S5 to make the upper electrode plates (2) in other directions conductive and the remaining upper electrode plates (2) disconnected, so as to realize the movement of the prototype in the three-dimensional space in the direction of the conductive upper electrode plate (2); S7, making the voltage of two upper electrode plates (2) rise at the same time through the motion control unit (7), at this time the prototype moves to the middle of the two upper electrode plates.

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