大中型仿生飞鸟机器人建模理论、设计与控制关键技术

To meet the application needs of the battlefield support (reconnaissance, attack, etc.), anti-terrorism riot, disaster relief and other military and civilian areas, this project carries out the research on the modeling, design, control and other key technologies of the large and medium sized bionic robot bird, whose wingspan is above 60cm (the nominal wingspan is 100cm). The main contents include: (1) flight mechanism and biological characteristics modeling of large and medium sized birds; (2) multiple dimension coupling dynamics and its characteristics for multi-DOF flapping flight with large flexible structure; (3) bionic design of large and medium sized robotic bird with high autonomous and low power; (4) Visual navigation and autonomous flight control based on imitating birds; (5) flight test and performance evaluation, and so on. It will break through the fluid-solid coupling dynamics modeling, avian biological characteristics modeling and bionic design, autonomous navigation and flight path planning, autonomous flight control and other key technologies, in non-steady flow environment. Based on the results of theoretical research, this project will develop large and medium sized bird bionic robot system with high autonomy, low power consumption, large load, long flying time, and so on. This work will overcome the shortcomings of fixed-wing and rotor UAV, which has high cost, low efficacy of energy utilization and weak ability of the stealth, and so on. The autonomous ability, wind resistance capacity, load capacity and cruise capacity and other aspects are obviously improved, compared with the micro flapping robots.

面向战场支持（侦察、攻击等）、反恐防暴、灾害救援等军民领域的应用需求，开展翼展在60cm以上（标称翼展为100cm）的大中型仿生飞鸟机器人的建模、设计及控制等关键技术的研究，包括大中型鸟类飞行机理与生物特性建模、大柔性多自由度扑翼飞行的多重耦合动力学及其特性、高自主低功耗大中型飞鸟机器人系统仿生设计、仿鸟视觉导航与自主飞行控制、飞行测试与性能评价等，突破非定常气流环境下的流固耦合动力学建模、鸟类生物特性建模与仿生设计、自主导航与航迹规划、自主飞行控制等关键技术。基于理论研究的结果，研制具有高度自主性、低功率消耗、大载荷比、长航时等特点的大中型仿生飞鸟机器人系统，克服固定翼、旋翼无人机成本高、能量利用率低、隐身能力弱等缺陷，且在自主能力、抗风能力、带载能力、巡航能力等方面明显高于微小型扑翼飞行器。

本课题针对大中型鸟类扑翼飞行机理、低雷诺数非定常气流下的多维动力学耦合规律及评价、大中型仿生飞行机器人性能表征与仿生设计与自主分析控制等关键科学问题，开展翼展超过60cm的大中型仿生扑翼飞行机器人系统建模、设计及控制等关键技术的研究，具体完成了典型鸟类飞行机理与生物特性建模，大柔性多自由度扑翼飞行机器人系统刚柔耦合多体动力学、流固耦合动力学特性分析、仿生设计，以及仿鸟视觉导航与自主飞行控制方法、高性能样机研制与飞行性能测试等研究内容，研制了翼展2.3m、载荷比超20%、飞行时间超过40分钟、抗风能力超过4级的扑翼飞行机器人系统，其中凤凰外形的扑翼机器人以群体编队飞行的形式亮相2019年央视春晚、《2021新年音乐会——扬帆远航大湾区》，展示了科技与艺术的完美融合，充分验证了系统的性能。研究成果可用于户外自然条件下开展战场支持（侦察、攻击等）、反恐防暴、灾害救援等军民领域，具有广阔应用前景。.基于研究的成果，共发表学术论文58篇，其中SCI论文33篇、EI论文21篇，其他论文4篇；获得授权国家发明专利14项。