摘要
将压电陶瓷驱动器和柔性铰链四杆放大机构融为一体,设计了结构紧凑的微扑翼飞行器驱动装置;采用拉格朗日方程建立了驱动装置动力学模型;提出了模糊自适应迭代学习控制策略,并进行了微扑翼飞行器翅翼轨迹模糊自适应迭代学习控制仿真试验,仿真结果表明:这种控制策略是可行的,翅翼取得了较好的轨迹跟踪效果。
Combining piezoelectric ceramics actuator with flexible joint four-bar mechanism,a compact driving equipment for micro flapping flight was designed.Using the Lagrange equation,the dynamic model of the driving equipment was given.Then,fuzzy adaptive interactive learning control was proposed.Finally,wing motion track control of micro flapping flight was simulated by means of the fuzzy adaptive interactive learning control.The result shows that the control method is feasible,and the good tracing of wing motion track is obtained.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第4期735-739,765,共6页
Journal of System Simulation
基金
国家自然科学基金(50575183)
博士点专项科研基金(20050699022)
关键词
微扑翼飞行器
压电陶瓷
驱动装置
翅翼运动轨迹
迭代学习控制
模糊
micro flapping flight
piezoelectric ceramics
driving equipment
wing motion track
adaptive interactive learning control
fuzzy
