Design and experimental study of a new flapping wing rotor micro aerial vehicle

• 作者: Xin DONG Daochun LI Jinwu XIANG Ziyu WANG
• 来源期刊: 中国航空学报（英文版）
• 年，卷（期）: 2020,（12）
• 所属期刊栏目: Fluid Mechanics and Flight Mechanics
• 页码范围: 3092-3099
• 页数: 8页
• 语种: 英文

摘要

A three-wing Flapping Wing Rotor Micro Aerial Vehicle (FWR-MAV) which can per-form controlled flight is introduced and an experimental study on this vehicle is presented. A mechanically driven flapping rotary mechanism is designed to drive the three flapping wings and generate lift, and control mechanisms are designed to control the pose of the FWR-MAV. A flight control board for attitude control with robust onboard attitude estimation and a control algorithm is also developed to perform stable hovering flight and forward flight. A series of flight tests was conducted, with hovering flight and forward flight tests performed to optimize the control param-eters and assess the performance of the FWR-MAV. The hovering flight test shows the ability of the FWR-MAV to counteract the moment generated by rotary motion and maintain the attitude of the FWR-MAV in space; the experiment of forward flight shows that the FWR-MAV can track the desired attitude.