基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

王久斌; 贺威; 孟亭亭; 邹尧; 付强

doi:10.16383/j.aas.c220836

基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

doi: 10.16383/j.aas.c220836

王久斌^{1, 2, 3,},
贺威^{1, 2, 3,},
孟亭亭^{1, 2, 3,},
邹尧^{1, 2, 3,},
付强^{1, 2, 3,}

1.
北京科技大学智能科学与技术学院北京 100083
2.
北京科技大学人工智能研究院北京 100083
3.
北京科技大学智能仿生无人系统教育部重点实验室北京 100083

基金项目: 国家自然科学基金(62225304, 61933001, 62173031), 北京高校高精尖学科“北京科技大学−人工智能科学与工程”资助

详细信息

作者简介:
王久斌：北京科技大学智能科学与技术学院博士研究生. 主要研究方向为扑翼机器人系统设计, 智能控制, 扑翼机器人集群控制. E-mail: b20200306@xs.ustb.edu.cn

贺威：北京科技大学智能科学与技术学院教授. 2006年获得华南理工大学自动化学院学士学位, 2011年获得新加坡国立大学电气工程与计算机科学系博士学位. 主要研究方向为机器人学, 分布参数系统控制, 振动控制和智能控制系统. 本文通信作者. E-mail: weihe@ieee.org

孟亭亭：北京科技大学智能科学与技术学院副教授. 2017年获得电子科技大学控制工程系硕士学位, 2020年获得中国科学院数学与系统科学研究院博士学位. 主要研究方向为扑翼飞行机器人, 智能控制, 分布参数系统控制. E-mail: mengting0715@163.com

邹尧：北京科技大学智能科学与技术学院教授. 2010年获得大连理工大学自动化专业学士学位, 2016年获得北京航空航天大学控制科学与工程专业博士学位. 主要研究方向为非线性控制, 无人机控制, 多智能体控制. E-mail: zouyao@ustb.edu.cn

付强：北京科技大学智能科学与技术学院副教授. 2009年获北京交通大学热能与动力工程专业学士学位. 2016年获北京航空航天大学控制科学与工程专业博士学位. 主要研究方向为视觉导航, 视觉伺服和扑翼飞行器. E-mail: fuqiang@ustb.edu.cn

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出版历程
- 收稿日期: 2022-10-26
- 录用日期: 2023-03-21
- 网络出版日期: 2024-01-15
- 刊出日期: 2024-02-26

System Design of Dove-like Flapping-wing Flying Robot Based on Highly Bionic Morphological Layout

WANG Jiu-Bin^{1, 2, 3
,},
HE Wei^{1, 2, 3
,},
MENG Ting-Ting^{1, 2, 3
,},
ZOU Yao^{1, 2, 3
,},
FU Qiang^{1, 2, 3
,}

1.
School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083
2.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083
3.
Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, University of Science and Technology Beijing, Beijing 100083

Funds: Supported by National Natural Science Foundation of China (62225304, 61933001, 62173031) and Beijing Top Discipline for Artificial Intelligent Science and Engineering, University of Science and Technology Beijing

More Information

Author Bio:
WANG Jiu-Bin　Ph.D. candidate at the School of Intelligence Science and Technology, University of Science and Technology Beijing. His research interest covers system design of flapping-wing robots, intelligent control, and swarm control of flapping-wing robots

HE Wei　Professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree from the College of Automation Science and Engineering, South China University of Technology in 2006, and his Ph.D. degree from the Department of Electrical and Computer Engineering, National University of Singapore (NUS), Singapore in 2011. His research interest covers robotics, control of distributed parameter systems, vibration control, and intelligent control systems. Corresponding author of this paper

MENG Ting-Ting　Associate professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. She received her master degree in control engineering from University of Electronic Science and Technology of China (UESTC) in 2017, and her Ph.D. degree at Academy of Mathematics and Systems Science, Chinese Academy of Sciences in 2020. Her research interest covers flapping-wing robots, intelligent control, and distributed parameter system control

ZOU Yao　Professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree in automation from Dalian University of Technology (DUT) in 2010, and his Ph.D. degree in control science and engineering from Beihang University in 2016. His research interest covers nonlinear control, unmanned aerial vehicle control, and multi-agent control

FU Qiang　Associate professor at the School of Intelligence Science and Technology, University of Science and Technology Beijing. He received his bachelor degree in thermal energy and power engineering from Beijing Jiaotong University in 2009, and his Ph.D. degree in control science and engineering from Beihang University in 2016. His research interest covers vision-based navigation, visual servoing, and flapping-wing aerial vehicles

摘要

摘要: 针对现有扑翼飞行机器人存在的飞行形态与实际鸟类相差较大, 以及翅膀、尾翼布局和俯仰、转向控制方式仿生度较低的问题, 提出一种形态布局与鸽子相仿的扑翼飞行机器人系统设计及实现方案. 通过设计弧面−折翼−后掠翅膀、仿鸟扇形尾翼以及尾翼挨近翅膀后缘布置的布局方式, 使扑翼机器人飞行形态更加接近真实鸟类, 提高扑翼机器人的形态仿生度. 在此基础上, 设计结合下扑角调控无需尾翼大角度上翘的俯仰控制方式, 以及不依赖于尾翼的翅膀收缩转向控制方式, 在提高仿生度的同时保证飞行控制的有效性. 在具体设计过程中, 首先参考鸽子翅膀型式选择不同类型翅膀并进行风洞测试, 确定出下扑角变化时仍能保持较优升推力性能的翅膀设计方案; 其次, 对各种尾翼型式进行分析和比较, 结合鸽子尾翼特点进行仿鸽尾翼及俯仰、转向控制机构设计, 并通过风洞测试验证; 最后, 设计飞控系统并装配整机, 进行外场飞行测试, 验证仿鸽扑翼飞行机器人平台的稳定性和可控性.
- 高仿生形态布局 /
- 仿鸽扑翼飞行机器人 /
- 折翼翅膀 /
- 扇形尾翼 /
- 风洞实验 /
- 俯仰控制 /
- 转向控制
Abstract: Some existing flapping-wing flying robots show significantly different flight forms compared with actual birds, and exhibit less bionic features of their wing and tail layout and their control ways of pitching and steering. In this paper, we propose a system design and implementation scheme for a flapping-wing flying robot with a morphological layout similar to that of a pigeon. By designing curved-folded-swept wings and a bird-like fan-shaped tail near the trailing edge of the wings, the flight form of the flapping-wing robot is closer to that of a bird, which improves the bionic performance of the flying robot morphologically. Upon this basis, we propose a pitching control method via regulating the downstroke angle without need of a large upper declination angle of the tail. We also propose a wing retraction control method that is independent of the tail, ensuring the effectiveness of flight control while emphasising more bionic features. In the specific design process, different types of wings according to those of pigeons are selected firstly, and wind tunnel tests are then performed to determine the design scheme that can maintain better lift-thrust performance when the downstroke angle changes. Next, by analyzing and comparing various types of tails, we make a tail for the robot with reference to the characteristics of the pigeon. Besides, we design pitching and steering control mechanisms and verify their effectiveness via wind tunnel tests. Finally, we develop a flight control system and integrate it on the robot. The stability and controllability of the designed dove-like flapping-wing flying robot is confirmed by flight tests.
- Highly bionic morphological layout /
- dove-like flapping-wing flying robot /
- folded wings /
- fan-shaped tail /
- wind tunnel tests /
- pitching control /
- steering control

HTML全文

图 1 USTB-Dove平台设计与系统组成

Fig. 1 USTB-Dove platform design and system configuration

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图 2 USTB-Dove与真实信鸽

Fig. 2 The USTB-Dove and the realistic carrier pigeon

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图 3 翅膀设计方案

Fig. 3 Programs of wings＇ design

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图 4 折翼翅膀的两种弯折方式

Fig. 4 Two bending modes of folded wings

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图 5 翅膀扑动及弯折角度

Fig. 5 Flapping and bending angles of the wings

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图 6 风洞设备与测试装置

Fig. 6 Wind tunnel and test equipment

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图 7 单翼平面翅膀与单翼弧面翅膀升推力性能比较

Fig. 7 Lift and thrust of the single plane wings and cambered wings

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图 8 不同下扑角时单翼翅膀的升推力和俯仰力矩

Fig. 8 The lift, thrust and pitch moment with different downstroke angles

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图 9 不同下扑角时折翼翅膀的升推力对比

Fig. 9 The lift and thrust of folded cambered wings with different downstroke angles

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图 10 USTB-Dove不同的尾翼设计方案

Fig. 10 Tail＇s different designs of the USTB-Dove

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图 11 鸽子平稳飞行时的翅膀和尾翼形态

Fig. 11 The form of a pigeon＇s wing and tail in smooth flight

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图 12 USTB-Dove尾翼设计

Fig. 12 Tail＇s design of the USTB-Dove

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图 13 下扑角电动调节机构

Fig. 13 Electric adjustment mechanism of the downstroke angle

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图 14 USTB-Dove转向机构

Fig. 14 Steering mechanism of the USTB-Dove

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图 15 翅膀收缩前后的不同状态

Fig. 15 The wing＇s different states before and after it shrinks

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图 16 USTB-Dove球头拉杆及尾翼极限动作时的俯仰力矩

Fig. 16 Pitch moment when USTB-Dove ball head lever and tail are in extreme action

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图 17 USTB-Dove转向机构动作时的滚转和偏航力矩

Fig. 17 Roll and yaw moment when USTB-Dove steering mechanism is in action

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图 18 USTB-Dove飞控系统

Fig. 18 Flight control system of USTB-Dove

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图 19 地面站信息采集显示界面

Fig. 19 Interface for the collection and display of information at the ground station

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图 20 起飞阶段的USTB-Dove

Fig. 20 USTB-Dove during takeoff phase

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图 21 飞行中的USTB-Dove (白色)

Fig. 21 USTB-Dove (white) in flight

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图 22 室外测试飞行轨迹

Fig. 22 Flight trajectory in outdoor test

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图 23 室外飞行测试姿态曲线

Fig. 23 Attitude curves in outdoor flight test

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表 1 USTB-Dove质量分解

Table 1 Weight decomposition of USTB-Dove

组件质量(g) 比重(%)

一对翅膀 32 13.1
驱动机构(含电机) 65 26.5
尾翼(含舵机) 35 14.3
机架 5 2.0
飞控系统 50 20.0
电池(1 000 mah 2 s) 48 19.6
外壳 10 4.1
总计 245 100.0

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基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

doi: 10.16383/j.aas.c220836

计量

System Design of Dove-like Flapping-wing Flying Robot Based on Highly Bionic Morphological Layout

计量

目录

组件	质量(g)	比重(%)
一对翅膀	32	13.1
驱动机构(含电机)	65	26.5
尾翼(含舵机)	35	14.3
机架	5	2.0
飞控系统	50	20.0
电池(1 000 mah 2 s)	48	19.6
外壳	10	4.1
总计	245	100.0

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基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

doi: 10.16383/j.aas.c220836

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System Design of Dove-like Flapping-wing Flying Robot Based on Highly Bionic Morphological Layout

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