Approximate simulation research on the hovering control of an insect flapping flight mimicking bee

Xi Jin Zhang, Zong De Fang, Xiao Hui Yang

Research output: Contribution to journalArticlepeer-review

Abstract

Based on the quasi-state aerodynamic force model, the paper deduced the aerodynamic force and moment approximate equations of an insect flapping flight mimicking bee, and developed kinematic functions of flapping wing. Then, the insect flapping flight mimicking bee was regarded as rigid body moving in the sky, Based on its dynamic equation, hovering control was investigated by means of hierarchical control. External control was position control, PD (proportion differentiation) controller was used for positions of X and Y, switching controller was employed for position of Z; switching control strategy was also used for internal attitude control, and a set of kinematic parameters were selected for switching control. Finally, hovering control of the insect flapping flight mimicking bee was simulated. The result shows that the proposed control method is effective, when the insect flapping flight is disturbed and departs from balanced position, it can return near its balanced position by means of self-regulation.

Original languageEnglish
Pages (from-to)1561-1567
Number of pages7
JournalHangkong Dongli Xuebao/Journal of Aerospace Power
Volume23
Issue number9
StatePublished - Sep 2008

Keywords

  • Hovering control
  • Kinematic parameters of flapping wing
  • Micro flapping flight
  • Simulation
  • Switching control

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