CPG-based Movement Control for Bionic Flapping-wing Mechanism

摘要

Flapping-wing flying is a kind of rhythmic movement with symmetry of time and space essentially, and this movement is generated and controlled by Central Pattern Generator (CPG).A 2-DOF flapping mechanism was designed according to the flapping-wing flying principle of insects, and the flapping-wing flying CPG model was constructed by nonlinear oscillators.The system responses were studied, and the influences of the model parameters to the system characteristics were analyzed.Through the engineering simulation of flapping-wing flying control model, the first modal vibration of the system was selected, and the different flying modes of bionic aircraft were realized by adjusting system parameters.This kind of bionic control strategy promoted the movement and control ability of flapping-wing flying, and provided a new method to the generation and control of flapping-wing rhythmic movement.