Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and adaptable to different robotic tasks. First, the blade element theory and the quasi-steady model are put forward to compute the flapping wing aerodynamics based on wing kinematics. Translational lift, translational drag, rotational lift, and added mass force are all considered in the computation. Then we use the proposed simulation platform to investigate the passive wing rotation and the wing-tail interaction phenomena of a particular flapping-wing robot. With the help of the simulation tool and a novel statistic based on dynamic differences from the averaged system, several behaviors display their essence by investigating the flapping wing robot dynamic characteristics. After that, the attitude tracking control problem and the positional trajectory tracking problem are both overcome by robust control techniques. Further comparison simulations reveal that the proposed control algorithms compared with other existing ones show apparent superiority. What is more, with the same control algorithm and parameters tuned in simulation, we conduct real flight experiments on a self-made flapping wing robot, and obtain similar results from the proposed simulation platform. In contrast to existing simulation tools, the proposed one is compatible with most existing flapping wing robots, and can inherently drill into each subtle behavior in corresponding applications by observing aerodynamic forces and torques on each blade element.
翻译:在开发扇形机翼机制和算法时,必须进行机翼机翼模拟。本文展示了一个新颖的面向应用的扇形机翼平台,与各种机械设计高度兼容,并适应不同的机器人任务。首先,提出刀片元素理论和准固定模型,以根据机翼运动学,计算扇形机翼空气动力学。翻译升降、翻译拖动、旋转升降和增加质量力,在计算中都考虑到。然后,我们利用拟议的模拟平台,调查一个特别的拍击机翼机器人的被动翼翼旋转和翼尾互动现象。在模拟工具的帮助下,根据与平均系统动态差异的动态差异,进行新的统计,通过调查拍击机翼机翼机器人动态特征,显示其本质。之后,态度跟踪控制问题和定位轨迹跟踪问题都通过稳健的控制技术得到克服。进一步的比较模拟表明,与其它现有机翼相比,拟议的控制算法显示出明显的优越性。在模拟中,我们用模拟工具进行真正的飞行实验,每个机翼机翼机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型机型,每个模拟模拟的模拟模拟,并取得类似的结果。</s>