【作者】 郑祥明； 昂海松；

【Author】 ZHENG Xiang-ming, ANG Hai-song ( Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

【机构】 南京航空航天大学；

【摘要】 飞翼式微型飞行器(MAV)的非常规气动布局以及低雷诺数效应使得其飞行力学特性与常规飞行器有很大差异。本文以低雷诺敷风洞试验为基础,研究了飞翼式MAV空气动力学特性,并在MAV飞行速度范围内研究了其飞行力学特性数值规律。在此基础上,本文引入基于行为的控制策略,并将模糊控制技术融入其中,建立了一个基于模糊行为的MAV自主飞行控制系统。在行为决策环节,我们提出了一种基于MAV飞行状态张量的行为仲裁方法。仿真与试飞试验证明,本文的控制系统是稳定的。更多还原

【Abstract】 The Aerodynamics of MAY is under a serious influence of Low Reynolds Number because of its micro size and low speed. Furthermore, its special design in configuration makes it more different from other aircrafts in characters of flight dynamics. In this paper, a group of piecewise linearized dynamic equations based on low Reynolds Number tunnel test are used to study the flight qualities of our MAV. We discover the nonlinear transformation of flight dynamics characters all over the flight states of MAV. Behavior-based algorithm is introduced combined with fuzzy techniques to build a fuzzy behavior-based flight control system for MAV. In this control system, we first used Tensor of flight state-based principle for coordination of the control behaviors. Simulation and experiments prove that our system is steady.更多还原