A hovering flapping-wing aircraft and its flight control method

Abstract

The invention discloses a flapping-wing air vehicle capable of hovering as well as a flight control method thereof. The flapping-wing air vehicle capable of hovering comprises a vehicle body and four single-flapping-wing mechanisms, wherein the four single-flapping-wing mechanisms are mounted on two sides of the vehicle body in a left-and right and front-and-back symmetrical manner, each single-flapping-wing mechanism comprises a swinging support, a flapping wing, an actuator, an eccentric bent rod and limit rods, the swinging supports are connected with the vehicle body through hinges, the included angle formed by each hinge shaft and the vertical direction of the plane where the vehicle body is located is a small acute angle, the flapping wings are fixedly connected with the swinging supports, the actuators are fixedly mounted on the vehicle body, every two limit rods are fixedly mounted on each swinging support, one end of each eccentric bent rod is fixedly connected with an output end of each actuator, the other end of each eccentric bent rod is bent, each bent section is inserted between every two limit rods, and rotation of output shafts of the actuators is converted into swinging of the swinging supports by the aid of eccentric rotation. The air vehicle is small in size, light in weight and capable of hovering stably during flight, the flapping wings can produce the larger lifting force and provide the enough lateral force, various maneuvering actions can be realized conveniently, flapping-wing swinging mechanisms are simple and reliable, and the actuating efficiency is high.

Description

technical field [0001] The invention relates to the field of aircraft, in particular to a hovering flapping-wing aircraft and its flight control method. Background technique [0002] In nature, the flapping wing flight of birds or insects can achieve rapid take-off, acceleration and hovering, with high maneuverability and flexibility. Because of its small size and light weight, the flapping wing aircraft has more advantages in small spaces and has good concealment, so it has very broad application prospects in military and civilian applications. Experts from various countries have successively developed a series of bionic flapping-wing aircraft such as "iBird-bot", "MicroroboticFly", "Hummingbird", "DelflyMicro" and "SmartBird", which have made technical breakthroughs in flying forward, backward and hovering. [0003] In the prior art, the common flapping wing aircraft has the following problems: (1) The flapping wing movement is asymmetrical. Many flapping-wing aircraft u...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the common flapping wing aircraft has the following problems: (1) the flapping wing movement is asymmetrical

Most of the flapping wing aircraft use the steering gear to drive the additional wing surface to realize the steering of the fuselage. This design increases the weight on the one hand, and increases the control complexity on the other hand.

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