Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering
文献类型：期刊论文
| 作者 | Yang, Xiaosong1; Jiang T(江涛)2,3,4 ; Wang HW(王洪伟)3,4; Gai, Wen1; Cui L(崔龙)3,4
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| 刊名 | Journal of Robotics
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| 出版日期 | 2019 |
| 卷号 | 2019页码:1-12 |
| ISSN号 | 1687-9600 |
| 产权排序 | 1 |
| 英文摘要 | Compared with the tailless flapping wing micro air vehicle (FMAV), the tailed FMAV has a simpler structure and is easier to control. However, although biplane FMAVs with tails have been used for flight control in practice for a long time, a theoretical model of the tailed FMAV has not previously been established. In this paper, we report modeling of the longitudinal dynamics of a tailed biplane FMAV using the Newton-Euler equations. In this study, the vehicle was trimmed and linearized near its hovering equilibrium, assuming small disturbances. Then the stability of the hovering FMAV was analyzed with a modal analysis method. A state feedback controller was synthesized to stabilize the disturbance. Finally, we investigated the flight control of the tailed biplane FMAV with different control signals. Our results show that the natural-motion mode determines the oscillation divergence characteristics of the tailed FMAV, a mode that can be suppressed with the state feedback controller by real-Time modulation of the tail. The tail can also be used to achieve different flight modes with different control-signal functions. The tailed FMAV cruises in a line when the tail is controlled with a step function and spirals in an elliptical trajectory in the longitudinal plane when the tail is controlled by a sinusoidal function. Our longitudinal-dynamics model provides an analytical basis for further dynamic analyses of the tailed FMAV, as well as the corresponding controller synthesis. Moreover, the proposed attitude stabilization and flight control schemes for the vehicle near hovering provide a basis for developing practical uses of the tailed FMAV. |
| 语种 | 英语 |
| 资助机构 | National Defense Basic Scientifc Research Program of China, grant number B1320133018 |
| 源URL | [http://ir.sia.cn/handle/173321/25625]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Jiang T(江涛); Cui L(崔龙) |
| 作者单位 | 1.Facility Design and Instrumentation Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Yang, Xiaosong,Jiang T,Wang HW,et al. Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering[J]. Journal of Robotics,2019,2019:1-12. |
| APA | Yang, Xiaosong,Jiang T,Wang HW,Gai, Wen,&Cui L.(2019).Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering.Journal of Robotics,2019,1-12. |
| MLA | Yang, Xiaosong,et al."Longitudinal Modeling and Control of Tailed Flapping-Wings Micro Air Vehicles near Hovering".Journal of Robotics 2019(2019):1-12. |
入库方式： OAI收割
来源：沈阳自动化研究所
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