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生物的扑翼飞行本质上是一种具有时间和空间对称性的节律运动,由中枢模式发生器(CPG)所产生和控制。根据昆虫扑翼飞行的原理,设计了一个两自由度扑翼机构,在构建基于非线性振子的扑翼飞行CPG模型的基础上,研究了系统的响应,分析了模型中各参数变化对系统特性的影响。通过对扑翼飞行控制模型的工程模拟,选择出系统的第一阶模态振动,并调节各参数,使扑翼飞行器实现不同的飞行模式。这种仿生控制策略提高了扑翼飞行的运动能力和控制水平,探索了关于扑翼节律运动产生与控制的新思路。
Biological flapping-wing flight is essentially a temporally and space-symmetric rhythmic movement produced and controlled by a central pattern generator (CPG). Based on the principle of insect flapping-wing flight, a two-degree-of-freedom flapping wing mechanism was designed. Based on the CPG model of flapping-wing flight based on nonlinear vibrator, the response of the system was studied. The variation of parameters in the model was analyzed. Impact. Through the simulation of flapping-wing flight control model, the first-order mode vibration of the system is selected and the parameters are adjusted so that the flapping-wing aircraft can achieve different flight modes. This bionics control strategy improves the movement ability and control level of flapping-wing flight and explores new ideas about the generation and control of flapping-wing rhythmic movement.