独立驱动的仿鸟扑翼飞行机器人的系统设计与实验

Bionic flapping-wing robots imitate flying creatures in nature which fly by flapping their wings against the air. With good maneuverability, high flight efficiency, and low noise, flapping-wing robots perform better than traditional fixed-wing aircraft and rotorcraft in some application scenarios. At present, most researches on flapping-wing robots focus on mechanism analysis, theoretical modeling, and control design. Few flapping-wing robots have realized the outdoor autonomous flight which makes it difficult to cope with the complex practical application requirements. In this paper, an independently driven bird-like flapping-wing robot named USTBird is designed. The left and right wings are independently driven by two servos to achieve maneuverable flight without a controllable tail. It is equipped with an independently designed flight control board, a GPS module and an inertial navigation module. We adopt PD controller to realize the outdoor autonomous cruising flight of the USTBird. A lightweight two degrees of freedom pan-tilt for the USTBird is designed, which eliminates most of the image oscillating. Aiming at decreasing the position error caused by the vibration of the fuselage and the inaccurate GPS measurement, we use the unscented Kalman filter to estimate the position. A ground station system for the USTBird is designed. Considering the steering lag problem of the USTBird, a double closed-loop segmented PD controller is designed for the yaw angle, and the autonomous cruise mission in the ring with an outer circle radius of 40 m and an inner circle radius of 10 m is finally achieved.