Journal of Bionic Engineering ›› 2024, Vol. 21 ›› Issue (5): 2145-2166.doi: 10.1007/s42235-024-00554-y
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Development of a Bio‑inspired Tailless FWMAV with High‑Frequency Flapping Wings Trajectory Tracking Control
Qingcheng Guo1,2,3,4; Chaofeng Wu1,2; Yichen Zhang1,2; Feng Cui1; Wu Liu1; Xiaosheng Wu1; Junguo Lu3,4
- 1. National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China 2. Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China 3. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China 4. The Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China
Development of a Bio‑inspired Tailless FWMAV with High‑Frequency Flapping Wings Trajectory Tracking Control
Qingcheng Guo1,2,3,4; Chaofeng Wu1,2; Yichen Zhang1,2; Feng Cui1; Wu Liu1; Xiaosheng Wu1; Junguo Lu3,4
- 1. National Key Laboratory of Advanced Micro and Nano Manufacture Technology, Shanghai Jiao Tong University, Shanghai 200240, China 2. Department of Micro/Nano Electronics, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China 3. Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China 4. The Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China
摘要： The development of a tailless Flapping Wing Micro Aerial Vehicle (FWMAV) inspired by the hummingbird is presented in this work. By implementing mechanical simplifications, it is possible to use planar machining technology for manufacturing of the FWMAV’s body, greatly reducing assembly errors. Traditionally, studies on flapping wing aircraft are limited to open-loop wing kinematics control. In this work, an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’ trajectory tracking errors. The control system is based on Field-Oriented Control (FOC) with a loop shaping compensation technique near the flapping frequency. Through frequency analysis, the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping system. To implement the proposed controller, a compact autopilot board integrated with FOC hardware is designed, weighing only 2.5 g. By utilizing precise wing trajectory tracking control, the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion