面向控制的仿鸽扑翼机纵向动力学建模与分析

Pigeon usually flaps and twists its wings by changing the frequency or the amplitude to achieve efficient flying. Inspired by this, to provide a generic design and verification platform for the study of flapping-wing aircraft control laws and control allocation algorithms, a dynamic model of a pigeon-like flapping-wing aircraft with three control inputs is established, and then validated through open-loop and closed-loop simulation. Specifically, the longitudinal multi-rigid nonlinear dynamic model of the pigeon-like flapping-wing aircraft is founded based on Kane equation with the inertial forces and moments of the wings considered. The elevator deflection, the varying amplitude of the wing flapping angle and the varying amplitude of the wing torsion angle are selected as the control inputs, and the control mechanism is then given with a fixed wing-flapping time period. The aerodynamic and control derivatives are calculated in a practical way, and the control oriented linear time-varying periodic system model of the pigeon-like flapping-wing aircraft is finally established. The dynamic stability of the linear time-varying periodic system model is then analyzed based on Floquet theory, which indicates the result obtained is consistent with the subsequent open-loop time-domain simulation results. Finally, the closed-loop simulations are performed and show that the model established in this paper can well reflect the time-varying period dynamic characteristics of the pigeon-like flapping-wing aircraft, and lays a foundation for the study of control laws and allocation algorithms on pigeon-like flapping-wing aircraft.