Approximate simulation research on the hovering control of an insect flapping flight mimicking bee

Based on the quasi-state aerodynamic force model,the paper deduced the aerodynamic force and moment approximate equations of an insect flapping flight mimicking bee,and developed kinematic functions of flapping wing.Then,the insect flapping flight mimicking bee was regarded as rigid body moving in the sky,Based on its dynamic equation,hovering control was investigated by means of hierarchical control.External control was position control,PD(proportion differentiation) controller was used for positions of Xand Y,switching controller was employed for position of Z;switching control strategy was also used for internal attitude control,and a set of kinematic parameters were selected for switching control.Finally,hovering control of the insect flapping flight mimicking bee was simulated.The result shows that the proposed control method is effective,when the insect flapping flight is disturbed and departs from balanced position,it can return near its balanced position by means of self-regulation.