An electromagnetic force direct-drive type dragonfly-like flapping wing aircraft platform and a flight control method thereof

Abstract

The application discloses an electromagnetic force direct driving type dragonfly imitating flapping wing aircraft platform and a flight control method thereof, and relates to the technical fields of bionic aircraft and electromagnetic driving control. The aircraft platform comprises a body, front and rear flapping wing groups, a wing-body connecting rod, an electromagnetic driving device and a main controller. The electromagnetic driving device is composed of a driving shell, a permanent magnet and a transmission connecting rod. The main controller adjusts the amplitude, direction and frequency of the driving current of the conductive coil, generates electromagnetic force to drive the flapping wing to reciprocally flap, and realizes the controllability of the amplitude, direction and frequency. The method establishes a target speed and equivalent frequency mapping in a manual mode, calculates a frequency error based on the feedback of an inductive device, and adjusts the driving current parameters through a PID closed loop. In a target navigation task, path planning, image acquisition, obstacle detection, straight flight or obstacle avoidance branches and heading correction cycles are executed. The scheme has fast response and compact structure, and can realize stable hovering, sensitive steering and autonomous navigation.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic aircraft and electromagnetic drive control technology, and relates to the structural design of micro flapping-wing aircraft, electromagnetic actuator drive, attitude stabilization control and navigation and obstacle avoidance control strategies. Specifically, it is an electromagnetic force direct-drive dragonfly flapping-wing aircraft platform and its flight control method. Background Technology

[0002] Micro air vehicles (MAVs) have garnered significant attention for their low-altitude maneuverability, close-range sensing, and scene adaptability, leading to applications in environmental monitoring, inspection and detection, and indoor / outdoor collaborative operations. Currently, most MAVs employ fixed-wing or quadcopter structures, which suffer from limitations in flexibility and biomimetic stealth capabilities. Furthermore, they place high demands on energy and control systems for low-speed hovering and precise attitude adjustments. In contrast, biomimetic flapping-wing aircraft, mimicking bird or insect flight, utilize the periodic oscillation of their wing surfaces to efficiently generate lift and thrust under unsteady aerodynamic forces, thereby enhancing stealth and maneuverability. This has become a current research hotspot in the field of micro aerodynamics.

[0003] Dragonfly-inspired flapping-wing platforms typically feature a fore-and-aft wing arrangement, a high flapping frequency, and complex aerodynamic coupling characteristics. Existing research indicates that the mutual interference between the fore-and-aft wings in dragonfly-like platforms leads to highly nonlinear variations in lift, thrust, and pitching moment, and is highly sensitive to phase difference, flapping amplitude, and instantaneous angle of attack. While this unsteady aerodynamic mechanism can provide efficient force generation, it also makes the dynamic response of the actuation system and the timing coordination of the control system crucial factors determining flight performance. If the actuation system response is lagging or lacks consistency, it can easily lead to wing trajectory deviation, increased moment fluctuations, and consequently, attitude divergence, hovering jitter, and directional drift.

[0004] However, in existing technologies (such as Chinese patents CN121382507A and CN117284513B), flapping wing drives often employ traditional motors in conjunction with transmission mechanisms (such as crank-rocker, gear transmission, flexible hinges, etc.) to achieve reciprocating motion at the wing root. While this type of solution easily obtains continuous torque output, it generally suffers from problems such as complex system structure, large weight, high energy consumption, and sensitivity to structural assembly errors, and its control accuracy and response speed are limited. Especially for scenarios simulating high-frequency, complex flight maneuvers such as dragonflies, existing drive methods struggle to achieve a good balance between weight, power, and flexibility. Furthermore, the phase lag caused by transmission inertia and structural compliance is further amplified, reducing the control margin in the high-frequency range, and making it difficult to guarantee long-term reliability and lifespan consistency.

[0005] In terms of flight control, the attitude and trajectory adjustment of flapping-wing aircraft need to be completed under strongly coupled and time-varying dynamic conditions. Common closed-loop control often uses algorithms such as PID to achieve attitude stabilization. However, because the flapping force changes nonlinearly with phase, frequency and wing surface deformation, and structural vibration and sensor noise introduce high-frequency disturbances, the control output is prone to saturation, oscillation or parameter sensitivity. Furthermore, in real-world environments with obstacles, the aircraft also needs to perform tasks such as perception, obstacle avoidance and heading correction. If the drive and control responses are mismatched, it can easily lead to untimely obstacle avoidance actions, accumulated path deviations and decreased stability, thus limiting its engineering application scope.

[0006] In summary, existing dragonfly-inspired flapping-wing aircraft generally suffer from problems such as complex drive system structure, limited efficiency and response, insufficient output consistency, and low control margin under high-frequency operating conditions. Therefore, how to achieve a dragonfly-inspired flapping-wing aircraft drive and flight control that balances high response, high controllability, and high reliability under miniaturization constraints is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] (a) Purpose of the invention To address the aforementioned deficiencies and shortcomings of existing technologies, this invention aims to provide an electromagnetically driven dragonfly-like flapping-wing aircraft platform and its flight control method. It employs electromagnetic force to directly drive the reciprocating motion of the wings, reducing inertia accumulation, clearance errors, and frictional losses introduced by multi-stage transmission. Furthermore, by finely adjusting the amplitude, direction, and frequency of the driving current, it achieves phase coordination between the front and rear wings and differential control between the left and right wings. Combined with sensor feedback closed-loop adjustment and vision-based heading correction, it enables high-response flapping-wing maneuvers with rapid start, stop, and reversal, stable hovering, and target navigation control. The transmission and processing delay of control commands is extremely small, allowing the actuators to respond with near-imperceptible delay.

[0008] (II) Technical Solution To achieve the objective of this invention and solve its technical problems, the present invention adopts the following technical solution: The first objective of this invention is to provide an electromagnetically driven, dragonfly-inspired flapping-wing aircraft platform for controlling dragonfly-like flight maneuvers by directly driving the flapping-wing mechanism with electromagnetic force. The platform includes a fuselage, a biomimetic flapping-wing mechanism, an electromagnetic drive device, and a main controller, wherein: The biomimetic flapping wing mechanism includes two sets of forward flapping wings symmetrically arranged at the front of the fuselage body, and two sets of rear flapping wings symmetrically arranged at the rear of the fuselage body. Each flapping wing is mounted on the fuselage body through a wing-body connecting rod set at its root and can swing back and forth around the wing root axis. The electromagnetic drive device is provided in several units and is installed in the fuselage body in a manner that corresponds one-to-one with each flapping wing in spatial position. Each electromagnetic drive device includes a drive housing, a permanent magnet, and a transmission connecting rod. The drive housing is fixed to the fuselage body and has a built-in conductive coil that generates an induced magnetic field after being energized. The permanent magnet is placed in the inner cavity of the drive housing and is fixedly connected to the transmission connecting rod. The transmission connecting rod extends out of the drive housing and is driven to be connected to the wing-body connecting rod of the corresponding flapping wing. The induced magnetic field interacts with the inherent magnetic field of the permanent magnet to generate an electromagnetic force and drive the permanent magnet to perform reciprocating linear motion in the inner cavity of the drive housing. The corresponding flapping wing is then driven to flap up and down via the transmission connecting rod. The main controller is communicatively connected to the conductive coils of each electromagnetic drive device, and is used to regulate the drive current parameters of each conductive coil, adjust the induced magnetic field generated by each conductive coil, and then control the flapping amplitude, flapping direction and flapping frequency of the transmission connecting rod and the corresponding flapping wing.

[0009] The second objective of this invention is to provide a control method for the above-mentioned electromagnetic direct-drive dragonfly flapping-wing aircraft platform, which includes the following steps when the aircraft platform is in manual control mode: S11. Target command acquisition and target speed setting: The main controller receives external remote control commands in real time, parses the target speed and corresponding flight mode, determines the target flapping frequency based on the target speed and the preset speed-frequency mapping relationship, and forms a set of target drive parameters corresponding to the front and rear flapping wing groups and the left and right flapping wings, including at least the target drive current frequency, amplitude and phase difference. S12. Actual frequency acquisition and error calculation: The flight status data is collected in real time by the sensing device and output to the main controller. The signal processing module built into the main controller is used to perform time domain analysis and calculate the actual flapping frequency of the flapping wing driven by each electromagnetic drive device in real time. The frequency error is calculated based on the actual flapping frequency and the target flapping frequency to obtain the flapping frequency deviation of each flapping wing in the current control cycle. S13. Closed-loop regulation and current parameter update: The main controller performs proportional, integral and derivative operations on the flapping frequency deviation of each flapping wing to obtain the control quantity for drive regulation, and maps the control quantity to the drive current parameter increment of each conductive coil, and updates the drive current frequency, amplitude and / or phase difference of each electromagnetic drive device to meet the phase constraint and differential constraint of the corresponding flight mode. S14. Drive device control execution: The updated drive current parameters are sent to each electromagnetic drive device to adjust the magnitude, amplitude and / or direction of the current, change the strength and polarity of the magnetic field induced in the inner cavity of the drive housing, drive the permanent magnet to make corresponding reciprocating linear motion in the inner cavity of the drive housing, and drive the corresponding flapping wing to complete the flapping action at the target flapping frequency through the transmission connecting rod. S15. Control loop judgment: The main controller judges whether the flight control task continues to be executed. If it continues, it returns to steps S11~S14 to execute in a loop. Otherwise, it stops output and ends control.

[0010] (III) Technical Effects Compared with the prior art, the electromagnetic force direct-drive dragonfly flapping-wing aircraft platform and its flight control method of the present invention have the following beneficial and significant technical effects: (1) The present invention adopts an electromagnetic direct drive structure, which directly generates electromagnetic driving force by conductive coil and permanent magnet, drives permanent magnet to reciprocate linearly in the drive housing and drives flapping wings to flap, reduces friction loss and backlash accumulation error introduced by intermediate transmission links such as gear / linkage reduction, improves energy conversion efficiency and output repeatability, and enables drive commands to start, stop and reverse quickly, significantly reducing the response lag of the execution components, thereby improving the tracking accuracy and dynamic adjustment bandwidth of flapping wing motion.

[0011] (2) The present invention coordinates the amplitude, direction and frequency of the driving current of each flapping wing corresponding coil through the main controller, and realizes the phase coordination of the front and rear flapping wing groups in the hovering mode to cancel the horizontal resultant force component and superimpose the lift component. In the turning mode, it implements left and right differential modulation to form a rolling torque. In the straight flight mode, it introduces the phase difference and / or amplitude difference of the front and rear flapping wing groups to obtain net thrust, realizes the controllable resultant force and resultant torque distribution of multi-mode flight, and improves attitude stability and maneuverability.

[0012] (3) This invention uses closed-loop control to form a control deviation between the target speed / heading and the actual flight state, and updates the drive current parameters in real time through PID adjustment. In the set target navigation mission, it combines path planning and visual obstacle discrimination to realize heading correction and obstacle avoidance flight, thereby enhancing the anti-disturbance capability and autonomous mission execution capability, and improving flight safety and mission completion reliability in complex environments. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the electromagnetic force direct-drive dragonfly flapping-wing aircraft platform of the present invention; Figure 2 This is a schematic diagram of the electromagnetic drive device in this invention; Figure 3 This is a schematic diagram of the control process of the electromagnetic direct-drive dragonfly flapping-wing aircraft platform of the present invention, wherein: (a) is the manual control mode; (b) is the target navigation control mode.

[0014] Explanation of reference numerals in the attached drawings: 1-Fuselage body, 2-Sensing device, 3-Flapping wing, 4-Electromagnetic drive device, 41-Drive shell, 42-Permanent magnet, 43-Transmission connecting rod, 5-Wing-body connecting rod, 6-Main controller. Detailed Implementation

[0015] This invention aims to provide an electromagnetic force-driven, dragonfly-like flapping-wing aircraft platform and its flight control method. To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. The described embodiments are some, but not all, embodiments of this invention, and are exemplary and intended to explain the invention, not to limit it. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0016] Example 1: Aircraft Platform like Figure 1 As shown, the electromagnetic force direct-drive dragonfly-inspired flapping-wing aircraft platform provided in this embodiment of the invention is used to directly drive the flapping-wing mechanism through electromagnetic force, eliminating the mechanical loss and inertial lag of traditional gear reduction gearboxes, realizing precise control of biomimetic flight actions under high-frequency dynamic response, and achieving controllable resultant force / resultant torque output for multi-modal flight such as hovering, straight flight, and turning. The aircraft platform includes a fuselage body 1, a sensing device 2, a biomimetic flapping-wing mechanism, an electromagnetic drive device 4, and a main controller 6, etc., wherein: The biomimetic flapping wing mechanism includes two sets of forward flapping wings symmetrically arranged at the front of the fuselage and two sets of rear flapping wings symmetrically arranged at the rear of the fuselage. Each flapping wing 3 is mounted on the fuselage 1 via a wing-body connecting rod 5 at its root and can reciprocate around the wing root axis. Several electromagnetic drive devices 4 are provided and installed in the fuselage 1 in a spatially corresponding manner to each flapping wing 3. Each electromagnetic drive device 4 includes a drive housing 41, a permanent magnet 42, and a transmission connecting rod 43. The drive housing 41 is fixed to the fuselage 1 and contains a conductive coil that generates an induced magnetic field when energized. The permanent magnet 42 is placed inside the drive housing 41 and fixedly connected to the transmission connecting rod 43. Rod 43 extends out of drive housing 41 and is connected to the wing-body connecting rod 5 of the corresponding flapping wing 3. The induced magnetic field interacts with the inherent magnetic field of permanent magnet 42 to generate electromagnetic force and drive permanent magnet 42 to perform reciprocating linear motion in the cavity of drive housing 41. Through the transmission connecting rod 43, it drives the corresponding flapping wing 3 to flap up and down. The main controller 6 is communicatively connected to the conductive coils of each electromagnetic drive device 4 to implement pulse width modulation (PWM) drive and form a closed-loop control circuit in combination with the feedback signal of the sensing device 2. Specifically, by adjusting the drive current parameters of each conductive coil, the induced magnetic field generated by each conductive coil is adjusted, and then the flapping amplitude, flapping direction and flapping frequency of the transmission connecting rod 43 and the corresponding flapping wing 3 are controlled.

[0017] More specifically, the fuselage body 1 preferably adopts a lightweight and high-strength X-shaped truss structure. The main controller 6 is installed at the geometric center of the X-shaped truss, and each electromagnetic drive device 4 is symmetrically arranged at the four end branches of the X-shaped truss, so that the center of gravity of the aircraft coincides with the geometric center. The fuselage body 1 is covered with a streamlined drag-reducing shell, and has a through-type wiring channel inside to accommodate the electrical shielded cables connecting the main controller 6 and each electromagnetic drive device 4.

[0018] The sensing device 2 is arranged on the fuselage body 1 and communicates with the main controller 6. It is used to acquire flight status quantities and output feedback signals to the main controller 6. The flight status quantities include speed-related status quantities and heading-related status quantities. The speed-related status quantities are used to characterize the speed magnitude and / or speed change trend of the aircraft, and the heading-related status quantities are used to characterize the heading angle and / or heading angle change trend of the aircraft. The main controller 6 calculates the speed deviation based on the speed-related status quantities and the preset target speed, and calculates the heading deviation based on the heading-related status quantities and the preset target heading. Then, it performs closed-loop adjustment of the driving current parameters of the conductive coils of each electromagnetic drive device 4, and adjusts the driving phase relationship of the front and rear flapping wing groups and the driving amplitude and frequency difference of the left and right flapping wings accordingly to achieve hovering stability and steering control.

[0019] Furthermore, the sensing device 2 adopts a multi-source sensor fusion architecture, preferably including a camera module and an inertial measurement unit. The camera module is installed at the front of the fuselage 1 to collect images of the flight environment in real time and output the image data to the main controller 6 to support autonomous navigation and obstacle recognition. The inertial measurement unit is used to output inertial measurement data characterizing the motion state of the aircraft in real time, including at least the aircraft's attitude angle, angular velocity, and linear acceleration. The main controller 6 forms velocity-related state variables and heading-related state variables based on the inertial measurement data fed back by the inertial measurement unit, and combines the image data output by the camera module to correct the heading deviation during the target's flight process, thereby improving the stability of hovering and steering control and the controllability of obstacle avoidance during the target's flight process.

[0020] In the biomimetic flapping wing mechanism, each flapping wing 3 preferably consists of a rigid wing frame and a flexible wing membrane. The rigid wing frame is made of lightweight, high-strength material and simulates the non-uniform stiffness distribution of a dragonfly wing, including a main leading edge vein and several asymmetrically arranged secondary support veins, which are used to define the overall geometric configuration of the flapping wing 3 and bear the aerodynamic and inertial loads generated during flapping. The flexible wing membrane is stretched and attached to the wing surface area enclosed by the rigid wing frame. During the flapping of the flapping wing 3, it undergoes adaptive elastic deformation to respond to dynamic aerodynamic pressure, so that the flapping wing can form a controlled transient angle of attack change in both the downward and upward flapping strokes, thereby generating continuous lift and thrust without adding an additional active torque converter mechanism.

[0021] In the electromagnetic drive device 4, the conductive coil built into the drive housing 41 is preferably a solenoid coil. The solenoid coil is wound along the axial direction of the drive housing 41, and its winding axis is collinear with the direction of reciprocating motion of the permanent magnet 42 in the inner cavity of the drive housing 41. A linear self-lubricating guide rail extending along the direction of motion is provided on its inner wall. The permanent magnet 42 is constrained on the linear self-lubricating guide rail by a sliding bushing to eliminate the influence of non-axial electromagnetic lateral force on motion stability. Furthermore, the permanent magnet 42 is made of neodymium iron boron material with high remanence and is multi-pole opposed magnetized to enhance... The electromagnetic coupling efficiency between the induced magnetic field and the inherent magnetic field is improved, thereby increasing the drive response frequency. Furthermore, an elastic reset element is preferably connected between the inner cavity end wall of the drive housing 41 and the permanent magnet 42. When the permanent magnet 42 deviates from the initial equilibrium position along the axis under the drive of electromagnetic force, an elastic restoring force is generated by the elastic reset element pointing towards the equilibrium position. The elastic restoring force and the induced magnetic field force generated by the conductive coil work together to ensure that the permanent magnet 42 forms a stable and continuous reciprocating linear motion in the inner cavity of the drive housing 41, providing a motion basis for the continuous flapping of the flapping wing 3.

[0022] In a further preferred embodiment, the transmission connecting rod 43 and the wing-body connecting rod 5 are connected by a hinge joint, and the rotation fulcrum of the wing-body connecting rod 5 is set on the edge extension of the drive housing 41. This allows the permanent magnet 42 to convert the reciprocating linear displacement output by the transmission connecting rod 43 into the reciprocating angular pendulum motion of the flapping wing 3 around the wing root axis through the hinge joint when the drive housing 41 moves. This drives the flapping wing 3 to complete the up-and-down flapping action. The motion transmission ratio between the linear stroke of the transmission connecting rod 43 and the flapping angle of the flapping wing 3 is determined by configuring the structural geometric parameters of the hinge joint, so as to set the flapping amplitude range under the structural size constraints and improve the consistency of motion mapping.

[0023] In this embodiment of the invention, the main controller 6 is preferably configured to alternately output driving currents in opposite directions to the conductive coils of each electromagnetic drive device 4, so that the drive housing 41 generates an alternating induced magnetic field and drives the permanent magnet 42 to reciprocate linearly within the cavity of the drive housing 41, and drives the corresponding flapping wing 3 to achieve periodic up-and-down flapping actions via the transmission connecting rod 43; and the main controller 6 is configured to perform independent frequency modulation and amplitude modulation on each electromagnetic drive device 4, and set the same or different driving current frequency and driving current amplitude for different flapping wings 3 within the same control cycle, so as to realize the different frequency or same frequency coordinated control of each flapping wing. The different frequency or same frequency coordinated control is used to suppress attitude oscillation and improve control resolution when switching between different flight modes such as hovering, straight flight and turning.

[0024] The main controller 6 preferably incorporates a closed-loop control calculation unit based on PID or fuzzy control. This unit receives the flight state quantity output from the sensing device 2 and compares it with the target state quantity to obtain a deviation signal. It then calculates the deviation signal using proportional, integral, and derivative terms to generate a drive control quantity. This drive control quantity is mapped to a combined adjustment of the amplitude, direction, and frequency of the drive current for each conductive coil, achieving real-time closed-loop adjustment of the flapping amplitude, direction, and frequency. Furthermore, the closed-loop control calculation unit also applies phase and differential constraints under different flight modes to ensure that the set of drive parameters meets the aerodynamic resultant force and resultant torque balance requirements of the corresponding mode.

[0025] Furthermore, the main controller 6 is equipped with at least hovering, straight flight, and turning flight modes, and implements differentiated drive current parameter control for each electromagnetic drive device 4 in different flight modes, wherein: When performing hovering flight mode, the main controller 6 is configured to control the driving current of the electromagnetic drive device 4 corresponding to the front and rear flapping wing groups in real time through pulse width modulation technology to have a preset phase difference (preferably, the driving current of the front and rear flapping wing groups is kept at a 180-degree phase difference through phase locking technology to form an asymmetric reverse flapping mode), so that the flapping phases of the front and rear flapping wing groups are opposite, so that the resultant force components of the aerodynamic forces generated by the two in the horizontal direction of the aircraft cancel each other out, and the aerodynamic lift components generated by each flapping wing are superimposed along the vertical axis of the aircraft, so that the platform obtains the resultant force and resultant torque balance required for hovering. When executing the turn flight mode, the main controller 6 is configured to perform differential current modulation on the electromagnetic drive devices 4 corresponding to the left and right flapping wings according to the flight status feedback signal output by the sensor 2, increase the drive current amplitude and / or frequency of the electromagnetic drive device 4 corresponding to the flapping wing on the turn side of the aircraft, maintain or reduce the drive current amplitude and / or frequency of the electromagnetic drive device 4 corresponding to the flapping wing on the opposite side, so that the flapping wings on both sides of the aircraft generate asymmetric aerodynamic lift and generate a rolling torque in the direction of the fuselage roll axis, drive the aircraft to achieve roll turn, and the turn angular velocity is determined by the difference in the drive current parameters on both sides; When executing the direct flight mode, the main controller 6 is configured to keep the amplitude of the drive current corresponding to the left and right flapping wings consistent with the drive current frequency, and to set a preset phase difference and / or amplitude difference for the drive current corresponding to the front and rear flapping wing groups to generate forward or backward thrust components, so that the platform can obtain net thrust along the longitudinal axis of the airframe while maintaining attitude stability. The preset phase difference and / or amplitude difference are corrected in real time based on the attitude angle and / or angular velocity feedback signal output by the sensor 2 to suppress roll and yaw coupling disturbances during the direct flight process and maintain the predetermined heading.

[0026] The core of this invention lies in its electromagnetic direct-drive flapping wing system. By directly driving the flapping wing mechanism with contactless electromagnetic force, it overcomes the defects and shortcomings of traditional mechanically driven flapping wing aircraft, such as large transmission gaps, slow response, and limited structural lifespan. The main controller 6 inside the fuselage 1 directly drives the bionic flapping wing mechanism by precisely controlling the drive current parameters (magnitude, direction, and frequency, etc.) in the electromagnetic drive device 4 corresponding to each flapping wing 3. This achieves precise and independent control of the flapping wing's trajectory, frequency, and amplitude, thereby enabling free flight maneuvers in the air.

[0027] The electromagnetic drive device 4 is the execution unit for achieving precise biomimetic flight. It mainly consists of a drive housing 41, a permanent magnet 42, and a transmission connecting rod 43. Its basic structure is as follows: Figure 2 As shown, its working principle is as follows: When the conductive coil in the drive housing 41 is energized, an induced magnetic field is generated. This magnetic field interacts with the inherent magnetic field of the permanent magnet, generating an electromagnetic force. The electromagnetic force causes the permanent magnet 42 to move axially and, through the transmission connecting rod 43, drives the flapping wings 3 to produce corresponding flapping actions. By controlling the switch of the magnetic field in the drive housing, the direction of the driving current in the conductive coil is alternately switched, controlling the alternating change of the polarity of the induced magnetic field, driving the permanent magnet 42 to form a reciprocating linear motion, which in turn drives the flapping wings 3 at the end of the connecting rod to flap up and down. The main controller 6 can directly control the flapping frequency of each flapping wing 3 by adjusting the frequency of the current.

[0028] The main controller 6 controls the electromagnetic drive devices 4 of the forward and rear flapping wings to be out of phase, causing the front and rear flapping wings to flap in opposite phases. This motion mode can effectively counteract the net forward or rearward force of the fuselage 1, thereby achieving stable hovering in the air. By independently increasing the electric field strength and changing the frequency of the electromagnetic drive device of the left or right flapping wing, the flapping amplitude and frequency of that side flapping wing can be increased accordingly, thereby generating greater lift on that side. The difference in lift between the two sides forms a rolling torque, driving the aircraft to achieve sensitive roll turns.

[0029] It should be noted that this invention achieves precise control of flapping wing trajectory through electromagnetic direct drive technology. It can not only simulate the conventional flapping motion of a dragonfly, but also achieve complex wing surface twisting and variable frequency flapping through asymmetric design of the current waveform. To improve the engineering adaptability of electromagnetic direct drive execution, the main controller 6 limits the amplitude and upper frequency limit of the conductive coil drive current, and sets a gradual update strategy for phase difference and differential momentum to avoid sudden changes in coil temperature rise and airframe attitude excitation caused by transient large currents. Simultaneously, the feedback signal from the sensing device 2 undergoes noise reduction and synchronization alignment processing before entering the closed-loop control calculation unit to reduce measurement drift caused by vibration and electromagnetic interference. This allows for continuous change of drive parameters during hovering and direct flight switching and turn correction, improving flight stability and control repeatability. Furthermore, the spring-mass resonant system formed by the elastic reset element and the permanent magnet in this invention enables the electromagnetic drive device to achieve maximum flapping wing displacement output with the lowest input power near the target flapping frequency; the axial alignment arrangement of the multi-pole opposing magnetized neodymium iron boron permanent magnet and the solenoid coil further improves the magnetic field coupling efficiency and drive bandwidth, enabling the flapping wing frequency to be quickly adjusted within a wide range.

[0030] Example 2: Control Method Based on Embodiment 1 above, Embodiment 2 further provides a control method for the aforementioned electromagnetic direct-drive dragonfly-like flapping-wing aircraft platform. Based on this control method, the aircraft platform can execute a manual control mode and set target navigation tasks. When the aircraft platform executes the manual control mode, the control method mainly includes the following steps: Figure 3 As shown in (a): S11. Target command acquisition and target speed setting: The main controller receives external remote control commands in real time, parses the target speed and corresponding flight mode, determines the target flapping frequency based on the target speed and the preset speed-frequency mapping relationship, and forms a set of target drive parameters corresponding to the front and rear flapping wing groups and the left and right flapping wings. These parameters include at least the target drive current frequency, amplitude and phase difference, and phase constraint conditions matching hovering, straight flight and turning modes are applied to the target phase difference. S12. Actual Frequency Acquisition and Error Calculation: The flight status data is collected in real time by the sensing device and output to the main controller. The signal processing module built into the main controller is used to perform time domain analysis and calculate the actual flapping frequency of the flapping wing driven by each electromagnetic drive device in real time. The frequency error is calculated based on the actual flapping frequency and the target flapping frequency to obtain the flapping frequency deviation of each flapping wing in the current control cycle. The error integral and error change are updated synchronously to support the continuity of the closed-loop operation. S13. Closed-loop regulation and current parameter update: The main controller performs proportional, integral and derivative operations on the flapping frequency deviation of each flapping wing to obtain the control quantity for drive regulation, and maps the control quantity to the drive current parameter increment of each conductive coil, and updates the drive current frequency, amplitude and / or phase difference of each electromagnetic drive device to meet the phase constraint and differential constraint of the corresponding flight mode. S14. Drive device control execution: The updated drive current parameters are sent to each electromagnetic drive device to adjust the magnitude, amplitude and / or direction of the current, change the strength and polarity of the magnetic field induced in the inner cavity of the drive housing, drive the permanent magnet to make corresponding reciprocating linear motion in the inner cavity of the drive housing, and drive the corresponding flapping wing to complete the flapping action at the target flapping frequency through the transmission connecting rod. S15. Control loop judgment: The main controller judges whether the flight control task is to be executed continuously. When the frequency error does not meet the preset convergence condition and no stop control command is received, it returns to steps S11 to S14 to execute in a loop. When the frequency error meets the preset convergence condition or a stop control command is received, it stops outputting drive current to the conductive coil and ends the adjustment process in manual control mode.

[0031] It should be noted that in manual control mode, the main controller decomposes the remote control command into the target flapping frequency, left-right differential, and front-back phase constraints, and independently modulates the current of each coil using PWM to achieve coordinated control where frequency dominates speed, differential dominates steering, and phase is used to suppress residual horizontal force. The control loop uses inertial measurement data to estimate speed and heading deviations, and combines amplitude limiting and anti-integral saturation strategies to constrain current peak values ​​and rates of change, thereby maintaining a stable and controllable response under battery voltage fluctuations and disturbances. This eliminates the impact of aerodynamic load pulsations and elastic resonances on flapping stability, ensuring that the aircraft has robust attitude maintenance and heading response capabilities under manual control.

[0032] Furthermore, such as Figure 3 As shown in (b), when the aircraft platform performs a set target navigation mission, the main controller uses the navigation state quantities output by the inertial measurement unit and the environmental images output by the camera module as dual information sources to construct a hierarchical closed-loop control architecture that coordinates path planning, obstacle detection, and attitude control, so as to achieve fully autonomous execution of the target navigation mission in a complex dynamic environment. Specifically, the control method mainly includes the following steps during execution: S21. Mission Parameter Setting and Target Generation: Receive mission trigger command and obtain target navigation mission parameters, including at least target position, arrival criteria and allowable flight speed range, and generate mission target state variables containing target heading angle and target speed accordingly; wherein, the arrival criteria may include distance threshold conditions and stability maintenance conditions to avoid misjudgment of arrival caused by short-term overruns. S22. Path planning and waypoint sequence construction: Generate a reference track consisting of multiple waypoints based on the target location and environmental constraints, and assign corresponding target heading angle, target speed and passing radius threshold to each waypoint. At the same time, convert the reference track into an executable navigation command sequence for rolling updates of the current target waypoints during flight. S23. Navigation Execution and Image Acquisition: Start the navigation control cycle, control the electromagnetic drive device to output drive current parameters to drive the flapping wing to generate navigation power, and periodically acquire environmental images through the sensing device and output them to the main controller; at the same time, acquire speed-related state quantities and heading-related state quantities to form navigation state quantities, and synchronize the image data and inertial measurement data in time with a preset sampling period; S24. Obstacle Detection and Control Sequence Selection: The main controller performs obstacle detection based on image data, outputs obstacle presence signs and obstacle location information, generates an obstacle avoidance flight control sequence when an obstacle is detected in the flight direction, and generates a direct flight control sequence when no obstacle is detected, and converts the control sequence into an adjustment amount of the drive current parameter to realize the switchable execution of the direct flight branch and the obstacle avoidance branch; S25. State detection and direction determination: The main controller acquires the heading-related state quantities and speed-related state quantities output by the sensing device, calculates the heading deviation between the current heading and the target heading, and determines whether the heading meets the preset direction criteria. The direction criteria include the heading deviation threshold and the deviation duration threshold, which are used to suppress the direction jitter caused by short-term disturbances. S26. Heading Correction: When the heading does not meet the preset heading criteria, differential adjustment is performed on the amplitude and / or frequency of the drive current of the corresponding electromagnetic drive device of the left and right flapping wings according to the heading deviation. The differential adjustment amount is obtained by PID calculation from the heading deviation signal. When implementing differential adjustment, the total drive power conservation constraint of the four wings is introduced, that is, while increasing the drive current parameter of the steering side, the parameter of the opposite side is proportionally reduced to prevent the unexpected loss of flight altitude caused by excessive reduction of lift on one side during the heading correction process. The drive phase relationship of the front and rear flapping wing groups is coordinated and adjusted to make the aircraft converge toward the target heading. S27. Arrival Determination and Loop Update: Determine whether the aircraft has reached the target position based on the arrival criteria. If not, return to step S23 to continue the navigation control loop. If yes, end the target navigation mission. During the loop update process, the main controller switches to the next waypoint based on the current waypoint according to the criteria and dynamically updates the target heading angle and target speed to achieve continuous navigation.

[0033] It should be noted that in the target navigation control mode, the main controller constructs a hierarchical closed-loop control architecture: the path planning layer switches navigation targets in a rolling manner based on waypoints and radius thresholds; the obstacle detection layer triggers obstacle avoidance sequence switching in real time based on the inter-frame pixel change rate; and the attitude control layer achieves decoupled control of heading correction and altitude maintenance through total power conservation differential adjustment. The three layers work together to ensure that the aircraft can autonomously complete the target navigation mission in a dynamic and complex environment.

[0034] The objectives of this invention have been fully and effectively achieved through the above embodiments. Those skilled in the art will understand that this invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments described above. Although the invention has been described with reference to what is currently considered the most practical and preferred embodiments, it should be understood that the invention is not limited to the disclosed embodiments, and any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. An electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform, characterized in that, It includes the fuselage, bionic flapping wing mechanism, electromagnetic drive unit, and main controller, among which: The biomimetic flapping wing mechanism includes two sets of forward flapping wings symmetrically arranged at the front of the fuselage body, and two sets of rear flapping wings symmetrically arranged at the rear of the fuselage body. Each flapping wing is mounted on the fuselage body through a wing-body connecting rod set at its root and can swing back and forth around the wing root axis. The electromagnetic drive device is provided in several units and is installed in the fuselage body in a manner that corresponds one-to-one with each flapping wing in spatial position. Each electromagnetic drive device includes a drive housing, a permanent magnet, and a transmission connecting rod. The drive housing is fixed to the fuselage body and has a built-in conductive coil that generates an induced magnetic field after being energized. The permanent magnet is placed in the inner cavity of the drive housing and is fixedly connected to the transmission connecting rod. The transmission connecting rod extends out of the drive housing and is driven to be connected to the wing-body connecting rod of the corresponding flapping wing. The induced magnetic field interacts with the inherent magnetic field of the permanent magnet to generate an electromagnetic force and drive the permanent magnet to perform reciprocating linear motion in the inner cavity of the drive housing. The corresponding flapping wing is then driven to flap up and down via the transmission connecting rod. The main controller is communicatively connected to the conductive coils of each electromagnetic drive device, and is used to regulate the drive current parameters of each conductive coil, adjust the induced magnetic field generated by each conductive coil, and then control the flapping amplitude, flapping direction and flapping frequency of the transmission connecting rod and the corresponding flapping wing.

2. The electromagnetic force direct-drive dragonfly flapping-wing aircraft platform according to claim 1, characterized in that, It also includes a sensing device arranged on the fuselage and connected to the main controller for acquiring flight status quantities and outputting feedback signals to the main controller. The flight status quantities include at least speed-related status quantities and heading-related status quantities. The speed-related status quantities are used to characterize the speed magnitude and / or speed change trend of the aircraft, and the heading-related status quantities are used to characterize the heading angle and / or heading angle change trend of the aircraft. The main controller calculates the speed deviation based on the speed-related state variables and the preset target speed, and calculates the heading deviation based on the heading-related state variables and the preset target heading. It then performs closed-loop adjustment of the drive current parameters of each electromagnetic drive device, and adjusts the drive phase relationship between the front and rear flapping wing groups and the difference in drive amplitude and frequency between the left and right flapping wings accordingly.

3. The electromagnetic force direct-drive dragonfly flapping-wing aircraft platform according to claim 2, characterized in that, The sensing device includes a camera module and an inertial measurement unit (IMU). The camera module is mounted on the front of the fuselage and is used to acquire images of the flight environment in real time and output the image data to the main controller to support autonomous navigation and obstacle recognition. The IMU is used to output inertial measurement data characterizing the motion state of the aircraft in real time, including at least the aircraft's attitude angle, angular velocity, and linear acceleration. The main controller generates velocity-related state variables and heading-related state variables based on the inertial measurement data, and combines them with the image data output by the camera module to correct heading deviations during the target's flight.

4. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, The fuselage adopts a lightweight and high-strength X-shaped truss structure. The main controller is installed at the geometric center of the X-shaped truss, and each electromagnetic drive device is symmetrically arranged at the four end branches of the X-shaped truss, so that the center of gravity of the aircraft coincides with the geometric center. Furthermore, the outer casing of the main body is covered with a streamlined drag-reducing shell, and the interior is provided with a through-type wiring channel to accommodate the electrical shielded cables connecting the main controller and each electromagnetic drive device.

5. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, Each flapping wing consists of a rigid wing frame and a flexible wing membrane. The rigid wing frame is made of lightweight, high-strength material and simulates the non-uniform stiffness distribution of a dragonfly wing. It includes a main leading-edge vein and several asymmetrically arranged secondary support veins, which define the overall geometric configuration of the flapping wing and bear the aerodynamic and inertial loads generated during flapping. The flexible wing membrane is stretched and attached to the wing surface area enclosed by the rigid wing frame. It undergoes adaptive elastic deformation during the flapping of the wing to respond to dynamic aerodynamic pressure, so that the flapping wing can form a favorable angle of attack in both the downward and upward flapping strokes.

6. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, The conductive coil built into the drive housing is a solenoid coil, which is wound along the axial direction of the drive housing. The winding axis is collinear with the direction of reciprocating motion of the permanent magnet in the inner cavity of the drive housing. A linear self-lubricating guide rail extending along the direction of motion is provided on its inner wall. The permanent magnet is constrained on the linear self-lubricating guide rail by a sliding bushing. The permanent magnet is made of neodymium iron boron material with high remanence and is multi-pole opposed magnetized. Furthermore, an elastic reset element is connected between the inner cavity end wall of the drive housing and the permanent magnet. When the permanent magnet deviates from the initial equilibrium position axially under the drive of electromagnetic force, an elastic restoring force is generated by the elastic reset element pointing towards the equilibrium position.

7. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, The transmission connecting rod and the wing-body connecting rod are connected by a hinge joint, and the rotation fulcrum of the wing-body connecting rod is set on the edge extension of the drive housing. This allows the permanent magnet to convert the reciprocating linear displacement output by the transmission connecting rod into the reciprocating angular pendulum motion of the flapping wing around the wing root axis through the hinge joint when the drive housing moves inside. The motion transmission ratio between the linear stroke of the transmission connecting rod and the flapping angle of the flapping wing is determined by the configuration of the structural geometric parameters of the hinge joint, thereby establishing the flapping amplitude range of the wing surface corresponding to a single electromagnetic drive stroke.

8. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, The main controller is configured to alternately output driving currents in opposite directions to the conductive coils of each electromagnetic drive device, causing the drive housing to generate an alternating induced magnetic field and drive the permanent magnet to reciprocate linearly within the drive housing cavity. This, in turn, drives the corresponding flapping wing to perform periodic upward and downward flapping movements via a transmission connecting rod. Furthermore, the main controller is configured to implement independent frequency modulation and amplitude modulation for each electromagnetic drive device, and to set the same or different driving current frequencies and amplitudes for different flapping wings within the same control cycle to achieve coordinated control of different or the same frequencies for each flapping wing. This is used to suppress attitude oscillations and improve control resolution when switching between hovering, straight flight, and turning.

9. The electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to claim 2 or 3, characterized in that, The main controller has a built-in closed-loop control calculation unit based on PID or fuzzy control. It receives the flight state quantity output by the sensing device and compares it with the target state quantity to obtain a deviation signal. It calculates the deviation signal based on the proportional, integral and derivative terms to generate a drive control quantity. The drive control quantity is then mapped to a joint adjustment quantity for the amplitude, direction and frequency of the drive current of each conductive coil, so as to realize real-time closed-loop adjustment of the flapping amplitude, flapping direction and flapping frequency of the flapping wings.

10. The electromagnetic force direct-drive dragonfly flapping-wing aircraft platform according to claim 9, characterized in that, The main controller has at least hovering, straight flight, and turning flight modes, and performs differentiated drive current parameter control on each electromagnetic drive device in different flight modes, wherein: When performing hovering flight mode, the main controller is configured to control the drive current of the electromagnetic drive device corresponding to the front and rear flapping wing groups in real time with a preset phase difference through pulse width modulation technology, so that the flapping phase of the front and rear flapping wing groups is opposite, so that the resultant force components of the aerodynamic force generated by the two in the horizontal direction of the aircraft cancel each other out, and the aerodynamic lift components generated by each flapping wing are superimposed along the vertical axis of the aircraft, so that the platform obtains the resultant force and resultant torque balance required for hovering. When executing the turning flight mode, the main controller is configured to perform differential current modulation on the electromagnetic drive devices corresponding to the left and right flapping wings according to the flight status feedback signal output by the sensing device, increase the driving current amplitude and / or frequency of the electromagnetic drive device corresponding to the flapping wing on the turning side of the aircraft, maintain or reduce the driving current amplitude and / or frequency of the electromagnetic drive device corresponding to the flapping wing on the opposite side, so that the flapping wings on both sides of the aircraft generate asymmetric aerodynamic lift and generate rolling torque in the direction of the fuselage roll axis, drive the aircraft to achieve roll turn, and the turning angular velocity is determined by the difference in the driving current parameters on both sides; When executing the direct flight mode, the main controller is configured to keep the amplitude and frequency of the drive current corresponding to the left and right flapping wings consistent, and to set a preset phase difference and / or amplitude difference for the drive current corresponding to the front and rear flapping wing groups to generate forward or backward thrust components. This allows the platform to obtain net thrust along the longitudinal axis of the aircraft while maintaining attitude stability. The preset phase difference and / or amplitude difference is corrected in real time based on the attitude angle and / or angular velocity feedback signals output by the sensing device to suppress roll and yaw coupling disturbances during direct flight and maintain the predetermined heading.

11. A control method for an electromagnetic force direct-drive dragonfly-like flapping-wing aircraft platform according to any one of claims 2 to 9, characterized in that, When the aircraft platform is in manual control mode, it includes: S11. The main controller receives external remote control commands in real time, analyzes the target speed and corresponding flight mode, determines the target flapping frequency based on the target speed and the preset speed-frequency mapping relationship, and forms a set of target drive parameters corresponding to the front and rear flapping wing groups and the left and right flapping wings, including at least the target drive current frequency, amplitude and phase difference. S12. The flight status data is collected in real time by the sensing device and output to the main controller. The signal processing module built into the main controller is used to perform time domain analysis and calculate the actual flapping frequency of the flapping wing driven by each electromagnetic drive device in real time. The frequency error is calculated based on the actual flapping frequency and the target flapping frequency to obtain the flapping frequency deviation of each flapping wing in the current control cycle. S13. The main controller performs proportional, integral and derivative operations on the flapping frequency deviation of each flapping wing to obtain the control quantity for drive adjustment, and maps the control quantity to the drive current parameter increment of each conductive coil, and updates the drive current frequency, amplitude and / or phase difference of each electromagnetic drive device to meet the phase constraint and differential constraint of the corresponding flight mode. S14. Send the updated drive current parameters to each electromagnetic drive device, adjust the magnitude, amplitude and / or direction of the input current, change the strength and polarity of the magnetic field induced in the inner cavity of the drive housing, drive the permanent magnet to make corresponding reciprocating linear motion in the inner cavity of the drive housing, and drive the corresponding flapping wing to complete the flapping action at the target flapping frequency through the transmission connecting rod. S15. The main controller determines whether the flight control task continues to be executed. If it continues, it returns to steps S11~S14 and executes them in a loop. Otherwise, it stops output and ends control.

12. The control method according to claim 11, characterized in that, When an aircraft platform performs a predetermined target navigation mission, it shall include at least the following steps: S21. Receive the mission trigger command and obtain the target navigation mission parameters, including at least the target position, arrival criteria and allowable flight speed range, and generate the mission target state quantity accordingly; S22. Generate a reference track consisting of multiple waypoints based on the target position and environmental constraints, and assign corresponding target heading angle, target speed and passing radius threshold to each waypoint. At the same time, convert the reference track into an executable navigation command sequence. S23. Start the navigation control cycle, control the electromagnetic drive device to output drive current parameters to drive the flapping wing to generate navigation power, and periodically collect environmental images through the sensing device and output them to the main controller; S24. Perform obstacle detection based on image data. When an obstacle is detected in the navigation direction, generate an obstacle avoidance flight control sequence. When no obstacle is detected, generate a straight flight control sequence and convert the control sequence into an adjustment amount for the drive current parameter. S25. The heading-related state quantities and speed-related state quantities output by the sensing device are used to calculate the heading deviation between the current heading and the target heading and to determine whether the heading meets the preset direction criteria. S26. When the heading does not meet the preset heading criteria, differential adjustment is performed on the driving current amplitude and / or frequency of the corresponding electromagnetic drive devices of the left and right flapping wings according to the heading deviation, and coordinated adjustment is performed on the driving phase relationship of the front and rear flapping wing groups to make the aircraft converge toward the target heading. S27. Determine whether the aircraft has reached the target position based on the arrival criteria. If not, return to step S23 to continue the navigation control loop. If yes, end the target navigation mission.

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