扑翼飞行器控制原理

23220056FLIGHTDYNAMICSVol.23No.2June===================================================================2005:2004-03-19;:2005-01-24:(J1500C001):(1981-),,,,、;(1948-),,,/,、;(1978-),,,,。,,(,710072):。、,;、、。,。:;;MEMS:V279;V249:A:1002-0853(2005)02-0015-04(Flapping-WingMicroAirVehicles,FMAV)2090。、、、,。、、、。FMAV,:,;;、。,,、、、、、。,(MDO),,FMAV。FMAV。。。,。,FMAV,。,,,。FMAV。,、、FMAV。1,,,[1]。20,FMAV,FMAV、、。1.110～25mm(MFI)。JYanRJWood[2],。,LSchenato[3],,,,,,(1)。。,LSchenato[4]FMAV,();。,XDeng[5],(LTI),,(LQG),。1MFIMLasek[6],(flapping)、(feathering)(phaseshifting)FMAV,(2)。MAV,,,。2,[7]。,,。,。,。1.2、、。Wei-ChungWu[8],、、。,、,。MAV,,StevenHo[9]FMAV,。,。,,MAV612331%17%,。1.3,,,。BrunswickMarcoBuschmann[10](INS),40cmMAV,GPS。、,,。MLB、、GPS,、,,MAV。1.4,FMAV。FMAV,MAV。,,[11]。(MAFC)。(,MEMS)、。,,,,,,MAV、。MAFCMAV[12]。,FMAV,。,:,;,,;,FMAV,FMAV、,。FMAV,、、、、。22.1[13,14],,FMAV。MAV,(106～108)。。FMAV,。,,MAVMAV(、),。FMAV。,FMAV,,。MAV,,FMAV。2.2()。MAVMAV,,;,,,MAV、,MAV。,MAV,,。,、。。712.2.3MEMSMAV、、MAV、、、。、,,、、、。MEMS,,,,。、、、、、。,MEMS,,,FMAV。。3FMAV、、。FMAV,,MAV;MEMS,。。,FMAV,。:[1]GrahamkTaylor.MechanicsandAerodynamicsofIn-sectFlightControl[J].BiolRevCambPhilosSoc,2001,76(4):449-471.[2]YanJ,WoodRJ,AvadhanulaS.TowardsFlappingWingControlforaMicromechanicalFlyingInsect[A].InProceedingsoftheIEEEInternationalConfer-enceonRoboticsandAutomation[C].Seoul,SouthKorea,2001.3901-3908.[3]SchenatoL,DengX,SastaryS.FlightControlSystemforaMicromechanicalFlyingInsect:ArchitectureandImplementation[A].InProceedingsoftheIEEEInter-nationalConferenceonRoboticsandAutomation[C].Seoul,SouthKorea,2002.[4]SchenatoL,DengX,SastaryS.HoveringFlightforaMicromechanicalFlyingInsect:ModelingandRobustControlSynthesis[A].In15thIFACWorldCongressonAutomaticControl[C].Barcelona,Spain,2002.[5]DengX,SchenatoL,SastryS.ModelIdentificationandAttitudeControlSchemeforaMicromechanical-Fly-ingInsect[A].InProceedingsofthe7thICARCV[C].Singapore,2002.[6]LasekM,PietruchaJ,SibilskiK.MicroAirVehicleManeuversasaControlProblemofFlexibleFlappingWings[R].AIAA-2002-0526,2002.[7],.--[J].(),1996,36(5):48-53.[8]WuWC,SchenatoL,RobertJW,etal.BiomimeticSensorSuitforFlightControlofaMicromechanicalFlyingInsertDesignandExperimentalResults[A].IEEEInternationalConferenceonRoboticsandAu-tomation[C].Taipei,Taiwan,2003.[9]HoS,NassefH.FlightDynamicsofSmallVehicles[A].23rdCongressoftheInternationalCouncilfortheAeronauticalSciences(ICAS2002)[C].Toronto,Canada,2002.551.1-551.10.[10]BuschmannM,KordesT.DevelopmentofaDataAc-quisitionandProcessingSystemforaMicroAerialVehicle(MAV)[A].InProceedingsofAIMS[C].Garmisch-Partenkirchen,2002.[11],,.MEMS[J].,2003,(9):38-42.[12].[R].,2000,(1):11-14.[13],.[J].,2001,22(5):26-32.[14].、[R].:,,2001.(22)8123lectioninthePaladinTacticalDecisionGenerationSystem[R].AIAA92-4541,1992.[2],,,.[J].,2003,15(4):502-504.[3],.[J].,1999,17(3):1-4.[4],.[J].,2001,31(4):50-52.DesignofaManeuverGeneratorandSManeuverSimulationLIShi-peng,GAOZheng-hong(SchoolofAeronautics,NorthwesternPolytechnicalUniversity,Xi’an710072,China)Abstract:Inthispaper,weanalyzethedynamiccharacteristicsoftheparticlemodelofaircraft,whichindicatesthatthechangingoftheflightstatesofaircraftiscausedbythecontrolvariables.Basedontheanalysis,theprincipleofdesigningmaneuvergeneratorisproposed.Thenthemathematicalmodelofma-neuvergeneratorisbuiltaccordingtoSmaneuvercommand.Thecorrectresultofthesimulationvalidatesthemathematicalmodelofthemaneuvergenerator.Themaneuvergeneratorisabletoaccomplishaircraftflightsimulation,soitwillbewidelyusedinthefuture.Keywords:flightsimulation;Smaneuver;maneuvergenerator(:((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((()(1))*urrent+esearc,of*ontrolSystemsfor-la..ing/0ingMicroAir1e,icles23Bing,2A4GZong-de,5O36u(7nstituteof8echanicalan9:lectrical:n;ineerin;,NorthwesternPolytechnicalUniversity,Xi’an710072,China)Abstract:Asanewnotionalvehicle,flapping-wingmicroair(2A=)vehiclehasbroadapplicationforegroundandreuirementofmar?ets.Theconcept,featuresandapplicationsofthe2A=andthetechnicaldifficultiesofitscontrolsystemarebrieflyintroduced.Thepresentresearchsituationanddevel-opmenttrendofthe2A=’scontrolsystemaresummarizedmainlyfromthreeaspects:thecontroltheoryandarithmetic,thedesignofeuipmentsusedincontrolsystemandtheimplementofcontrolsystem.Onthisbasis,the?eytechnologiesandemphasisoffuturewor?of2A=’scontrolsystemarediscussedintheend.Keywords:flapping-wingmicroairvehicle(2A=);controlsystem;@Stechnology(:)2223