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公开(公告)号：US20170297702A1
公开(公告)日：2017-10-19
申请号：US15467449
申请日：2017-03-23
Applicant: UNIVERSITY OF SCIENCE AND TECHNOLOGY BEIJING
Inventor： Wei He , YuNan Chen , Tong Lv , Yao Yu , ChangYin Sun
Abstract: The present invention provides a method for controlling the oscillation of flapping-wing air vehicle, which comprises the following steps: calculating the kinetic energy, potential energy and virtual work of the system using the flexible wing with the two-degree of freedom as the research object; establishing system dynamics model based on the Hamilton's principle; setting the boundary control rate according to said system dynamics model wherein said boundary control rate includes F(t) and M(t), said F(t) is the inputted boundary control force, and said M(t) is the inputted boundary torque; and controlling the flexible wings according to the system dynamics model in combination with the boundary control rate. The present invention establishes the system dynamics model based on the Hamilton's principle, set the boundary control rate according to said system dynamics model, sufficiently considers the situation of distributed disturbance occurring at the boundary and effectively prevents the flexible wings deformation caused by the external disturbances.
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公开(公告)号：US10994866B1
公开(公告)日：2021-05-04
申请号：US17118637
申请日：2020-12-11
Applicant: University of Science and Technology Beijing
Inventor： Wei He , Xinxing Mu , Shufen Tian , Qiang Fu , Yao Zou , Haifeng Huang , Xiuyu He
Abstract: A flight test system for a flapping-wing aerial vehicle includes a host computer platform, a measurement mechanism, and a wind tunnel. The measurement mechanism is configured to mount a to-be-tested flapping-wing aerial vehicle prototype. The measurement mechanism includes an Euler angle controller, a flow angle controller, and a tripod. The flow angle controller is mounted on the tripod. The Euler angle controller is in transmission connection with the flow angle controller. The flapping-wing aerial vehicle prototype is detachably connected to the Euler angle controller by using a first connecting member. The host computer platform is in communication connection with the measurement mechanism and the wind tunnel, and is configured to control a wind speed of the wind tunnel and display a flight status of the flapping-wing aerial vehicle prototype in real time during test.
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3.发明授权公开(公告)号：US11613351B2
公开(公告)日：2023-03-28
申请号：US17743486
申请日：2022-05-13
Applicant: University of Science and Technology Beijing
Inventor： Wei He , Haifeng Huang , Jiubin Wang , Xinyue Tang , Xiuyu He , Qiang Fu , Yao Zou , Hui Zhang , Changyin Sun , Yaonan Wang
Abstract: A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.
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公开(公告)号：US11592842B1
公开(公告)日：2023-02-28
申请号：US17730232
申请日：2022-04-27
Applicant: University of Science and Technology Beijing
Inventor： Wei He , Xiaoyang Wu , Xinyue Tang , Qiang Fu , Yongbin Sun , Yao Zou , Xiuyu He , Hui Zhang , Changyin Sun , Yaonan Wang
Abstract: A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aerial robots.
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