Bionic Flapping-wing micro air vehicle design and PD flight control

As a new type of flying vehicle that imitates biological flight, the wing-fluttering vehicle has many advantages and development prospects that traditional flying vehicles do not have. In the current research, most of the vertical flight prototypes use the crank and double rocker mechanism, using two pairs of flexible wings to flap to produce the effect of moment cancellation to stabilize the vertical flight, this paper proposes a motor-driven biomimetic vertical flight wing fluttering micro-vehicle, the use of a double rudder steering control structure design, to achieve a good control effect on the pitch angle, roll angle. In this paper, a three-dimensional model of its transmission mechanism, steering structure, and overall assembly of the prototype is established, and it is assembled by physical processing. The PD control algorithm is adopted for the steering control mechanism of the vehicle, and the flight experiment is conducted on the actual constructed vehicle. The results of the flight experiments are briefly analyzed, and the study shows that the use of PD control is more effective for the miniature flapping wing vehicle designed in this paper.