Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so on.In this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g mass.Different from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much lower.Therefore,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller design.Moreover,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and position.Hence,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,tra-jectory tracking and the flight safety.Then,the on-board controller is designed based on Free-RTOS.It not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control requirements.Finally,the developed control system was integrated to the robotic prototype,HIT-phoenix.Flight experiments under dif-ferent environment conditions such as sunny and windy weather were completed to verify the con-trol method and system.

Wenfu XU;Erzhen PAN;Juntao LIU;Yihong LI;Han YUAN

School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China

中国航空学报（英文版）

[1]Wenfu XU;Erzhen PAN;Juntao LIU;Yihong LI;Han YUAN-.Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment)[J].中国航空学报（英文版）,2022(02):235-249

wingspan,phoenix

Flight,large,scale,flapping,flying,robotic,System,development,flight,Large,birds,have,huge,application,potential,outdoor,tasks,such,military,reconnaissance,environment,exploring,disaster,rescue,In,this,paper,multiple,modes,method,system,are,proposed,which,has,mass,Different,from,small,aerial,vehicle,its,cannot,be,neglected,frequency,much,lower,Therefore,influence,transient,aerodynamics,instead,only,mean,value,considered,attitude,estimation,controller,Moreover,trajectory,highly,coupled,three,actuators,one,two,tail,adjustment,very,difficult,simultaneously,position,Hence,fuzzy,strategy,addressed,determine,command,each,by,considering,priority,stabilization,tracking,safety,Then,board,designed,Free,RTOS,It,satisfies,restrictions,size,power,space,but,also,meets,autonomous,semi,manual,requirements,Finally,developed,was,integrated,prototype,HIT,experiments,under,conditions,sunny,windy,weather,were,completed,verify

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