JP4030488B2 - Ascent movement device - Google Patents

Description

  The present invention relates to a rising and moving apparatus, and more particularly to a rising and moving apparatus that floats by generating a predetermined fluid force by flapping its wings.

  In recent years, research aimed at engineering realization of a rising and moving apparatus that is superior in mobility to conventional aircraft has become active. Along with this research, research on the control method of flapping flying movement, which has not been studied in the past, has also been conducted.

For example, Japanese Patent Application No. 2001-052057 proposes a method of controlling a flapping levitation moving apparatus using wings that move with three degrees of freedom and a flapping levitation moving apparatus using the same.
Japanese Patent Application No. 2001-052057

  However, the conventionally proposed flapping flying movement control method is first-principle and is insufficient for controlling the actual complex flapping flying movement mode.

  In particular, flapping and floating movement is a phenomenon caused by the interaction between the behavior of a fluid such as air and the behavior of a structure such as a wing. Therefore, a response as a nonlinear complex system appears in the flapping movement. Therefore, there is a problem that it is difficult to perform an appropriate flapping motion by controlling only one element (for example, a vertical velocity) of the movement mode of the rising and moving.

  Hereinafter, the above problem will be described in detail.

  Consider a case where the flapping levitation moving apparatus changes its posture during the period when the flapping levitation moving apparatus is hovering (stop flying). During hovering, the fluid force generated by the flapping motion has a direction that is substantially along the vertical direction, and the size of the fluid force is in proportion to the weight of the flapping and moving device.

  In this state, it is assumed that the posture of the flapping levitation moving device is changed by a rotational movement with an axis extending in a direction other than the vertical direction as a rotation center axis. At this time, since the posture of the flapping movement device is changed, the direction of the fluid force generated by the flapping motion is shifted by φ degrees from the vertical direction. Therefore, the vertical component of the fluid force generated by flapping is COS (φ) times, and is smaller than the vertical component of the fluid force generated by flapping before the posture is changed.

  For this reason, the position of the flapping rising and moving apparatus is lowered with the change of the posture. Further, as the posture changes, the behavior of the surrounding fluid changes due to the reaction. Along with this change, a change occurs in the fluid force generated by the flapping motion.

  Therefore, in order to cancel the change in position and the change in fluid force, it is conceivable to change the way of flapping. In general, the way of flapping is represented by a time history of a parameter of three degrees of freedom called the posture of the wing. In addition, changing the time history of each parameter of freedom involves changing each component of a plurality of flapping flying movement motion forms. Furthermore, each of the effects of changing each component of the movement form is interrelated. For this reason, it is extremely difficult to appropriately obtain a change value of each of a plurality of parameters that specify how to flutter.

  The above items are summarized as follows.

  The control of the flapping flying device is obtained by a non-linear response of time history with various parameters. Therefore, for example, it is not possible to appropriately control the flapping and moving apparatus by only changing one element of a simple motion form, such as increasing or decreasing the acceleration in the horizontal direction and the acceleration in the front-rear direction. Therefore, no flapping rising and moving apparatus capable of controlling the manner of rising and moving has been realized so far.

  In addition, the movement of the wing when flapping is an exercise having two or more degrees of freedom. It is not efficient from the viewpoint of the amount of calculation to appropriately calculate the time history of this exercise. In general, it may not be so difficult to analytically elucidate what kind of mechanical response occurs when only one of the parameters for identifying how to flutter is changed. . However, it is very difficult to elucidate the mechanical response when a combination of flapping parameter changes is combined. Therefore, conventionally, there has not been proposed a method for specifying what type of flapping should be performed in order to cause the flapping rising and moving apparatus to move to a desired position or change the posture.

  The present invention has been made in view of the above-mentioned problems, and the purpose of the present invention is what kind of flapping should be performed when the flapping levitation moving device is moved to a desired position or a desired posture is changed. It is an object to provide a fluttering and moving apparatus that can more easily identify the flapping movement.

  A flapping levitation moving device of the present invention includes a wing part for flapping and flying in a space where a fluid exists, a driving unit for driving the wing part, a control unit for controlling a driving mode of the driving unit, and a driving mode in the control unit. And a storage unit in which data for determining is stored. In addition, the storage unit includes reference flapping data that specifies a flapping method that is a reference of the wing, data of a function for applying a predetermined conversion to the reference flapping, and a change in flapping flight caused by the predetermined conversion. Sensitivity data that can specify the degree of. The control unit further includes a calculation unit for calculating a conversion amount of the reference flapping data using data specifying the flapping flight mode to be targeted and input from the outside, and sensitivity data, and a reference flapping method Conversion means for converting reference flapping data to specific flapping data using data conversion amount and function data, and signal for driving the driving unit using specific flapping data Output means for outputting to the output.

  According to such a configuration, only the reference flapping method is stored in the storage unit, and other flapping methods can realize a rising and moving apparatus that calculates based on the reference flapping method. According to this flapping rising and moving apparatus, it is possible to execute control for changing the flapping method more easily. As a result, it is possible to make the flapping levitation moving device move the desired position or change the desired posture more easily.

  Further, it is desirable that the reference flapping data is data set so that the wing moves periodically. According to this configuration, the flapping flight mode of the rising and moving apparatus can be changed only by adding the above-described predetermined conversion to one cycle of the flapping motion of the wing. Therefore, the control of the flapping flight mode becomes easier.

  The reference flapping data is the flapping data in which the movement of the rising and moving device is equal acceleration motion or equal angular acceleration motion when the same phase data of each period of the periodic motion is expressed in time series. It may be. If these reference flapping data are used, the reference flapping method can be expressed by a relatively simple expression. As a result, the aforementioned predetermined conversion amount can be calculated more easily.

  Further, it is desirable that the reference flapping method data is data of flapping when the flapping rising and moving apparatus hovers. In this way, since the hovering is a state in which the flapping and moving apparatus does not move in the space, the rising and moving apparatus exhibits the mobility evenly in any of the vertical direction, the horizontal direction, and the front-rear direction. be able to.

  Further, the function data may be data in which conversion is applied only to a specific phase section of the reference flapping data. According to this configuration, a fluid force in a direction other than the direction of the vector of the fluid force generated by the reference flapping can be obtained. This specific section is a wing launch section, a wing down section, or a wing cut-back section. If the manner of flapping is divided into the three sections described above, the effect of the predetermined conversion described above will not be congested, so that the flapping manner can be controlled more easily.

  The predetermined conversion may be performed by changing the time axis of the basic flapping data. For changing the way of flapping, there are a method of changing the posture of the wing at the same time and a method of changing the time when the same posture of the wing is realized. According to the former method, since it is necessary to change a time-series value of a plurality of angles as a parameter representing the wing posture, the amount of calculation is enormous. However, according to the latter method, the flapping method can be changed only by changing the time axis of the flapping motion period, that is, the flapping method can be changed only by changing one parameter. The amount of calculation required to change the direction can be reduced. The change of the time axis is performed so that the function obtained when differentiating the function for changing the time axis with respect to time becomes a continuous function. In this way, it is possible to smoothly change the way of flapping at the time of flapping conversion.

  In addition, a plurality of types of function data are provided, and the conversion means selects a specific function data from a plurality of types of function data according to the type of data specifying the flapping flight mode to be targeted. It is desirable to select and perform a predetermined conversion using a specific function. According to this configuration, the predetermined conversion amount described above can be changed according to the flapping flight mode to be targeted.

  In addition, it is desirable that the flapping flying device is provided with a plurality of function data, and the conversion means performs the predetermined conversion described above by combining a plurality of function data. According to this, in accordance with the flapping flight mode, it is possible to change the flapping method more finely.

(Embodiment 1)
A rising and moving apparatus according to Embodiment 1 of the present invention will be described with reference to FIGS.

  In addition, about the rising and moving apparatus in this invention, various structures can be considered for concrete function implementation means, such as a drive part and a control part mentioned later. However, as long as the movement of the wing of the rising and moving apparatus can be appropriately controlled in a predetermined environment, any detailed configuration of the drive unit and the control unit may be used. Therefore, only the functions of the components such as the drive unit and the control unit are described.

  Note that there is a close relationship between the reference flapping method described in this embodiment and the shape of the wing. However, it is not easy to find a unique solution for this relationship. In the present embodiment, the above relationship is simply explained. Therefore, the characteristics of the rising and moving apparatus according to the embodiment will be described based on the result of the fluid / structure coupled simulation.

  In this fluid-structure coupled simulation, an engineering model equivalent to the wing of an Akaekane insect is used as the wing of the flapping and floating movement device, and the flapping method of the Akahane hovering is used as the reference flapping method. However, the configuration of the wing and the manner of flapping of the flapping and moving apparatus are not limited to those of insects. For example, a wing composed of a flat plate and a flapping method capable of hovering by a flapping operation of the flat plate may be used for a simulation of flapping flight of the rising and moving apparatus.

(Overall configuration)
The structure and function of the rising and moving apparatus 90 in the present embodiment will be described with reference to FIG. In the rising and moving apparatus 90 of the present embodiment, a control unit 901, an instruction receiving unit 902, a sensor unit 903, and a driving unit 905 are incorporated in a body unit 908. A wing 904 is connected to the drive unit 905. The wing 904 is driven by the drive unit 905. The instruction receiving unit 902 receives an instruction signal from the outside and transmits it to the control unit 901. The control unit 901 controls the operation of the drive unit 905 based on the instruction signal.

  Next, the wing 904 provided in the rising and moving apparatus 90 of the present embodiment will be described with reference to FIG.

  The wings 904 are modeled for each quadrilateral shell element to have a shape and stiffness distribution equivalent to that of Akahane wings. Further, the wing 904 has a shell structure, its Young's modulus is 0.354 GPa, and its thickness distribution is as shown in FIG. The relationship between the position of each of the wing points P0, P1, and P2 shown in FIG. 3 and time is shown in FIGS.

During steady hovering, the drive unit 905 causes the point P1 and the point P2 on the wing 904 to have the coordinate values shown in time series in the graphs shown in FIGS. 4 and 5 with respect to the point P0. The wing 904 is driven to take the corresponding position. In order to realize the reference flapping method shown in FIGS. 4 and 5, a signal for driving the drive unit 905 in a manner corresponding to the reference flapping method is stored in the control unit 901. To do. This signal is data for specifying the duty ratio of pulse width modulation. Since the specific method of controlling the duty ratio of pulse wide modulation will be described in the second embodiment, the details thereof will not be described here. The movement of the wing 904 actually becomes a model of the wing 904. This movement corresponds to the movement of wings when the Akaekane that collected the data is hovering.

  Note that the relative positional relationship between the point P1 and the point P2 with respect to the body 908 is not constrained. Further, the point P0 is connected to the drive unit 905 by a link that is free only of rotational motion, and the relative positional relationship with the body 908 is fixed.

  In the present embodiment, the operation of the wing part 904 at the time of steady hovering, that is, the way of flapping is called the reference flapping method. Data that can specify the reference flapping method is stored in the fixed storage device 906.

  The instruction receiving unit 902 receives an instruction signal X instructing a flapping flight mode (including both position and attitude) as a target of the rising and moving apparatus 90. The sensor unit 903 obtains the current state information Xd of the rising and moving apparatus 90 such as the posture and position. The fixed storage device 906 and the temporary storage device 907 store reference flapping data F, sensitivity data Am and function data M used to change the reference flapping data F.

  The control unit 901 determines the driving mode of the wing unit 904 using the instruction signal X, information Xd, data Am, and data M described above. Thereafter, the control unit 901 transmits a drive signal for realizing the determined drive mode to the drive unit 905. The wing 904 is driven in a manner specified by the drive signal. The wing 904 receives a reaction from the surrounding air by its own driving. This reaction is transmitted to the drive unit 905. As a result, the body 908 fixed to the driving unit 905 floats.

(Flapping control flow)
A specific method for realizing the flapping flying movement control will be described with reference to FIG. Note that the control method shown in FIG. 1 is an example, and other methods may be used as a method for controlling the flapping movement of the rising and moving apparatus as long as the same purpose can be achieved. Further, in the present embodiment, the instruction signal X received by the instruction receiving unit 902 is received at intervals that allow the rising and moving apparatus 90 to continuously perform the flapping operation using only the instruction signal X. Signal.

  However, in practice, the instruction signal X that specifies only the target position is received by the instruction receiving unit 902, and the movement parameter such as the path that the rising and moving apparatus 90 follows to reach that position and the movement parameters such as the acceleration of the rising and moving apparatus 90 A method in which the control unit 901 calculates the history may be used. In this case, the history of the motion parameter calculated by the control unit 901 is read as the target flapping flight mode specified by the instruction signal X received by the instruction receiving unit 902.

  Hereinafter, an instruction signal for specifying a target state (position, posture, speed, angular velocity, acceleration, angular acceleration, etc.) received from the instruction receiving unit 902 is Xd. Let X be the information that specifies the current state of motion of the ascending movement device 90 obtained by the sensor unit 903 (the manner of flapping flight). Let M be data of a function of an example of an algorithm that specifies the mode of change of the data F that specifies the reference flapping method. When the reference flapping data F is changed by the function data M, the sensitivity data Am is used to specify how much the flapping flight mode of the rising and moving apparatus 90 changes due to the change. The sensitivity in this case refers to the degree of change in the flapping flight mode of the ascending movement device 90 (for example, the amount of change in the position of the ascending movement device 90) relative to the amount of change in flapping (for example, the amount of change in flapping frequency). It is shown. In other words, the sensitivity is the amount of change of the flapping flight mode with respect to the amount of change per unit of flapping. The reference flapping data F, function data M, and sensitivity data Am are stored in the fixed storage device 906. These combinations will be described later.

  Further, C represents a parameter representing the amount of conversion of the reference flapping method (change amount of flapping frequency = change amount of actuator driving frequency). In the present embodiment, the control unit 901 uses the instruction signal Xd obtained from the instruction receiving unit 902 and the information X obtained from the sensor unit 903 to calculate the parameter C by the following equation (1).

C = (Xd−X) / Am (1)
Further, the control unit 90 uses the calculated parameter C and function data M to convert the reference flapping data F stored in the fixed storage device 906. Thereby, the driving mode of the actuator is calculated as data M (C) · F. The controller 90 drives the actuator 905 using the calculated actuator driving data M (C) · F. At this time, the control unit 90 controls the actuator 905 so that the value (Xd−X) used to specify the amount of flapping change calculated by C × Am is added to the information X that specifies the current flapping method. Drive. Thus, the current flapping information X is Xd (= X + (Xd−X)). That is, the control unit 90 performs control to drive the wing 904 so that the rising and moving apparatus 90 is in a flapping flight mode corresponding to the instruction signal Xd received by the instruction receiving unit 902.

  FIG. 1A shows a block diagram for explaining a control method, and FIG. 1B shows a flowchart for explaining a signal flow.

(Flapping control)
In this embodiment, the flapping method is changed by adding the minimum necessary conversion to the reference flapping method, thereby controlling the flapping flight mode. This control method will be described using physical simulation using fluid-structure interaction analysis. FIG. 6 shows the outline of the mesh for specifying the wing structure used in the simulation.

  The body 908 and the like of the rising and moving apparatus 90, that is, the portion excluding the wing 904 is a rigid body having a mass of 237 mg and a rotational inertia moment of 0.000118 N · m. As shown in FIG. 6, in this simulation, it is assumed that the rising and moving apparatus 90 is symmetrical in order to simplify the explanation. Therefore, the above-described analysis is performed using a half model that specifies either the left or right of the rising and moving device 90.

  Therefore, the result obtained by this simulation is a symmetrical motion. A left-right symmetric motion is a motion obtained only by a translational motion in the vertical direction, a translational motion in the front-rear direction, and a rotational motion having a virtual axis extending in the left-right direction as a rotation axis, and means a motion with 3 degrees of freedom. However, when a full model that can control the left and right wings independently is used, it is possible to analyze a motion having three or more degrees of freedom. In addition, with respect to the symmetrical movement, there is no difference between the analysis result using the full model and the analysis result using the half model. Therefore, the simulation using the half model does not affect the analysis result of the symmetrical motion control.

  In the following, a control method for changing from a hovering state to another way of flapping is described. In addition, when changing from a predetermined flapping method other than the hovering state to a specific flapping method, basically, a control method similar to the control method can be used to change from the hovering state to another flapping method.

(Position control in the vertical direction)
First, the vertical control will be described with reference to FIGS. 4, 5, and 7. The vertical direction means a direction substantially perpendicular to the ground surface. In the vertical control, each of the information X and the instruction signal Xd specifies the vertical position of the rising and moving apparatus 90. The function data M is for enlarging or reducing the time axis in FIGS. 4 and 5, and the parameter C is a parameter for specifying the reduction rate (%). For example, if C = 50, the flapping method specified by using the scale obtained by dividing the time axis scale in FIG. 4 and FIG. 5 by 1.5 is adopted as the new flapping method after conversion.

  In the present embodiment, in order to realize that the flapping frequency becomes 1.5 times in FIGS. 4 and 5, the above-described method that only changes one parameter called the time axis is adopted. However, if the trouble of data processing does not become a problem, a method of changing the x, y, z data itself in FIGS. 4 and 5 may be used.

In the present embodiment, the sensitivity data Am is data indicating the amount of change in the vertical position of the rising and moving apparatus 90 when the flapping frequency is increased by 1% per cycle of the flapping operation. According to our experiments,
Am = 0.184 [mm / (1 cycle, 1% flapping frequency increase)]
It is.

  As an example, consider a case where the flapping period of the wings before changing the flapping frequency is 23.5 msec. In this case, for example, when the rising and moving apparatus 90 is raised by 0.2 mm during 40 msec, that is, 40 / 23.5≈1.7 (period), that is, Xd−X = 0.2 / 1.7 = When 0.1176 (mm / 1 period), the flapping frequency increases by C = (Xd−X) /Am=0.1176/0.0184=6.393 (%). That is, since (frequency) = 1 / (cycle), if the time axis in FIGS. 4 and 5 is changed, the new flapping cycle is 23.5 × (1−C / 100) = 22 (msec). Become.

  As described above, FIG. 7 shows the relationship between time and the wing elevation angle as an analysis result when the flapping frequency is changed from 23.5 msec to 22 msec. The flapping frequency is changed at time t = 0.13 sec in FIGS. 4 and 5. FIG. 7A shows a change in the position in the front-rear direction and a change in the position in the vertical direction as an example of the change in the position of the rising and moving apparatus. FIG.7 (b) has shown the time history of the elevation angle of the wing | blade as an example of the aspect of the attitude | position change of a rising and moving apparatus. The elevation angle is a positive value that indicates the angle between the horizontal plane and the line connecting the nose and the nose when the nose is above the nose.

  4 and 5, the position in the vertical direction when the flapping period is 23.5 msec at t = 0.17 sec is −0.00534 m as shown in FIG. 7A, and the flapping period is 22 msec. The position in the vertical direction is -0.00513 m. Therefore, the rising and moving apparatus 90 has an approximately 0.2 mm rise in the vertical position when the flapping period is 22 msec compared to the vertical position when the flapping period is 23.5 msec. Yes.

  As described above, the rising and moving apparatus 90 can change the current flapping frequency using the parameter C calculated using the sensitivity Am stored in the fixed storage device 906. More specifically, the control unit 901 uses the function M to expand or contract the time axis of the basic flapping data F shown in FIGS. Thereby, the vertical control of the rising and moving apparatus 90 is realized.

(Position control in the front-rear direction)
Next, control in the front-rear direction will be described with reference to FIGS. 4, 5, 8, and 9. The front-rear direction is a direction substantially perpendicular to a line connecting the left and right actuators on a plane substantially parallel to the ground surface.

  In the control in the front-rear direction, each of the information X and the instruction signal Xd specifies the position of the rising and moving apparatus 90 in the front-rear direction. The function data M is for expanding or reducing the time axis of the wing launching operation and the descending operation in FIGS. 4 and 5. The parameter C is a parameter for specifying the reduction rate (%) of the time axis in the launch operation and the enlargement rate (%) of the time axis in the down operation. For example, if C = −5, for the launch operation section, a flapping method using a scale obtained by dividing the scale of the time axis in FIGS. 4 and 5 by 0.95 is adopted, and for the down motion section, FIG. A flapping method using a scale obtained by multiplying the scale of the time axis in FIG. 5 by 0.95 is adopted as a new flapping method after conversion. That is, in the downhill section, the flapping method expressed by the graph obtained by multiplying only the time axis of the graphs shown in FIGS. 4 and 5 by (1 + C / 100) is adopted as the new flapping method after conversion. In the launch section, the flapping method expressed by the graph obtained by multiplying only the time axis of the graphs shown in FIGS. 4 and 5 by 1 / (1 + C / 100) is the new flapping method after conversion. Adopted.

  In the above-described method, in FIG. 4 and FIG. 5, in order to change the flapping operation only for a part of one cycle of up or down, it is only necessary to change one parameter called the time axis. Easy to process. However, if the data processing is not particularly complicated, a method of changing the x, y, z data itself in FIGS. 4 and 5 may be used. Further, in order to prevent a large acceleration from being generated in the rising and moving apparatus 1 due to the conversion, the time axis in FIG. 4 and FIG. 5 is enlarged or reduced so that the curve shown in FIG. 8 changes smoothly. It is desirable.

In the present embodiment, the sensitivity data Am is data indicating the amount of change in the position in the front-rear direction when the flapping motion speed at the time of launching or descending is changed by 1% per cycle of the flapping motion. According to our experiments,
Am = 0.227 [mm / (change amount of speed of 1 cycle, 1% launching or falling flapping motion)]
It is.

  As an example, consider a case where the flapping period before the change is 23.5 msec. In this case, when the rising and moving apparatus 90 moves back by 0.4 mm during 30 msec, that is, 30 / 23.5≈1.28 (period), that is, Xd−X = −0.4 / 1.28 = When −0.313 [mm / (period)], the amount of change in the flapping speed is C = (Xd−X) /Am=−0.313/0.1227=−2.55 ( %).

  Therefore, at the time of launch, the control unit 901 changes the basic flapping data F so that the flapping method uses a scale obtained by dividing the time axis scale in FIGS. 4 and 5 by 0.9745. In addition, the control unit 901 changes the basic flapping method data F so that the flapping method uses a scale obtained by multiplying the time axis scale in FIG. 4 and FIG. 5 by 0.9745. Further, the control unit 901 drives the wing unit 904 to execute a new flapping method in which the above-described basic flapping method is changed.

  In the above-described new flapping method, as shown in FIG. 8, the flapping frequency is 24.1 msec at the time of launch, and the flapping frequency is 22.9 msec at the time of downstroke.

  FIG. 9 shows the result when the simulation is performed under the above-described conditions. The flapping frequency is changed at the time t = 0.06 sec shown in FIGS. FIG. 9A shows a change in the position in the front-rear direction and a change in the position in the vertical direction as an example of the change in the position of the rising and moving apparatus. FIG. 9B shows a time history of the elevation angle of the rising and moving apparatus 90 as a mode of change in the posture of the rising and moving apparatus. The elevation angle is a positive value that indicates an angle formed by a line connecting the horizontal plane, the nose, and the nose when the nose is positioned above the nose.

  The position in the front-rear direction when no conversion is applied to the reference flapping method at time t = 0.09 sec shown in FIGS. 4 and 5 is 0.0026 m, as shown in FIG. 9A. . On the other hand, the position in the front-rear direction when the conversion is applied to the reference flapping method is 0.003 m. Therefore, the position in the front-rear direction of the rising and moving apparatus 90 after changing the flapping method is set back approximately 0.4 mm from the position in the front-rear direction before changing the flapping method.

  As described above, the rising and moving apparatus 90 uses the parameter C of the flapping conversion amount calculated by using the sensitivity data Am stored in the fixed storage device 906, and then the up and down sections. In each of the above, a change is made to the current flapping frequency. More specifically, the control unit 901 uses the function data M to set the time axis of the basic flapping data F shown in FIG. 4 and FIG. 5 in each of the launch section and the down section. Zoom in or out separately. Thereby, control of the position of the rising and moving apparatus 90 in the front-rear direction is realized.

(Elevation control)
Subsequently, control of the elevation angle, which can be verified by simulation in the present embodiment, in the posture control will be described with reference to FIGS. 4, 5, 8, 9, and 10.

  In the control of the elevation angle, each of the information X and the instruction signal Xd is an angle formed by a line connecting the nose and the tail of the rising and moving apparatus 90 and the horizontal plane.

  The function data M indicates the manner of expansion or contraction of the time axis shown in FIG. 4 and FIG. 5 in the wing launching operation and the descending operation, respectively. Further, the parameter C is a reduction rate (%) of the time axis in the launch operation and also means an enlargement rate (%) of the time axis in the down operation.

  For example, if C = −5, the flapping method using the scale obtained by dividing the time axis graduation in FIG. 4 and FIG. 5 by 0.95 is adopted as the flapping method after the change. If C = -5, the flapping method using a scale obtained by multiplying the time axis scale in FIG. 4 and FIG. 5 by 0.95 is used as the new flapping method after the change. Is done. That is, in the downhill section, the flapping method expressed by the graph obtained by multiplying only the time axis of the graphs shown in FIGS. 4 and 5 by (1 + C / 100) is adopted as the new flapping method after conversion. In the launch section, the flapping method expressed by the graph obtained by multiplying only the time axis of the graphs shown in FIGS. 4 and 5 by 1 / (1 + C / 100) is the new flapping method after conversion. Adopted.

  The above-described method is a simple method because only one parameter called the time axis needs to be changed in order to change the flapping frequency in FIGS. 4 and 5. However, if the trouble of data processing does not become a problem, it is possible to use a method of changing the x, y, and z data itself in FIGS. 4 and 5.

  Also, in practice, the time flapping of the basic flapping data shown in FIG. 4 and FIG. 5 is not enlarged or shrunk in order to avoid large acceleration from occurring in the rising and moving apparatus 90 due to the change of flapping. It is desirable that the curve shown in FIG.

In the present embodiment, the sensitivity data Am is data on the amount of change in elevation angle when the flapping frequency at the time of flapping up or down is changed by 1%. According to our experiments,
Am = 0.6136 [Angle / (Change amount of speed of 1 cycle, 1% launching or downing operation)]
It is.

  Consider a case where the flapping period before the change is 23.5 msec. In this case, when it is desired to increase the elevation angle by 2 degrees during 30 msec, that is, 30 / 23.5≈1.28 (period), that is, Xd−X = 2 / 1.28 = 1.5625 ( (Degree / cycle), the amount of change in the flapping speed is C = (Xd−X) /Am=1.5625/0.6136=−2.55 (%).

  Thereafter, at the time of launch, the control unit 901 employs a flapping method using a scale obtained by dividing the time axis scale in FIGS. 4 and 5 by 0.9745. At the time of downing, a flapping method using a scale obtained by multiplying the time axis in FIGS. 4 and 5 by 0.9745 is employed. Thereafter, the control unit 901 transmits a signal capable of specifying the employed flapping method to the driving unit 905, and the driving unit 905 drives the wing unit 904 using the signal.

  As shown in FIG. 8, this flapping method is equivalent to a flapping method in which the flapping frequency (operating speed) is set to 24.1 msec at the time of launch and the flapping frequency (operating speed) is set to 22.9 msec at the time of dropping.

  The simulation result under this condition is shown in FIG. Note that the flapping frequency (operation speed) is changed at t = 0.06 sec. FIG. 9A shows a state of changing the position of the rising and moving apparatus 90 in a plane including the front and rear direction and the up and down direction, and FIG. 9B shows a state of changing the posture of the rising and moving apparatus 90. The time history of the elevation angle is used. The elevation angle has a positive value at an angle formed by a line connecting the horizontal plane, the nose and the nose when the nose is above the nose.

  At t = 0.09 sec, the elevation angle when no conversion is applied to the reference flapping is −2.1 degrees as shown in FIG. 9B. The elevation angle of the rising and moving apparatus 90 when conversion is applied to the reference flapping method is -0.1 degrees. Therefore, the rising and moving apparatus 90 after conversion has increased the elevation angle by about 2.0 degrees compared to the rising and moving apparatus 90 after conversion.

  As described above, using the conversion amount parameter C calculated from the sensitivity data Am stored in the fixed storage device 906 and the function data M, the launch section and the down section are separately provided. In addition, the way of flapping is changed. More specifically, the control unit 901 reduces the time-axis data in the wing movement shown in FIGS. 4 and 5 stored in the fixed storage device 906 at the time of launch and expands at the time of downstroke. The flapping method is changed using the function data M. Therefore, the rising and moving apparatus 90 can easily realize control of the elevation angle.

  As another example, a method of controlling the elevation angle of the rising and moving apparatus 90 by changing the position of the center of gravity will be described.

  FIG. 10 shows a simulation result when the position of the center of gravity of the rising and moving apparatus 90 is shifted by 1 mm forward and backward. FIG. 10A shows how the position of the rising and moving apparatus 90 changes in the plane including the front-rear direction and the vertical direction. FIG. 10B shows how the attitude of the rising and moving apparatus 90 changes. Is shown by the time history of the elevation angle. The elevation angle is a positive value defined by the angle formed by the horizontal plane when the nose is above the nose and the line connecting the nose and the nose.

  As shown in FIG. 10 (a), even if the position of the center of gravity of the flapping and floating device 90 changes, the position of the rising and moving device 90 does not change greatly, but as shown in FIG. 10 (b), The position of the rising and moving apparatus 90 changes greatly by changing the position of. As a result, it can be seen that the position of the rising and moving apparatus 90 changes due to the change in posture. That is, the position of the rising and moving apparatus 90 does not change directly due to the change in the position of the center of gravity, but the position changes due to the change in the position of the center of gravity, so the position of the rising and moving apparatus 90 changes indirectly. .

  From the above, it can be seen that the attitude of the rising and moving apparatus can be controlled by shifting the position of the center of gravity while keeping the reference flapping. Thus, it can be seen that the posture can be changed by changing the position of the center of gravity. For example, when the position of the center of gravity is moved forward, the nose is lowered relative to the tail. Further, when the position of the center of gravity is moved backward, the nose rises with respect to the tail.

(Position and orientation control by rotation conversion)
The stroke surface of the flapping operation at the time of hovering shown in FIG. 11B is changed to the stroke surface shown in FIG. This change in flapping is a gradual addition of rotational transformation about the x axis extending in the left-right direction of the rising and moving apparatus 90 as the axis of rotation so as to raise the nose of the rising and moving apparatus 90 relative to the tail. . FIG. 12 shows how the position and posture of the rising and moving apparatus 90 change at this time.

  From FIG. 12A, it can be seen that the rising and moving apparatus 90 moves backward when the angle formed by the horizontal plane and the stroke plane is 10 degrees. Also, from FIG. 12B, the attitude of the rising and moving device 90 changes so that the nose is positioned above the nose due to the angle formed by the horizontal plane and the stroke plane being 10 degrees. You can see that

  From the above, it can be seen that the posture and position of the rising and moving apparatus can be controlled by rotationally converting the stroke of the reference flapping.

  Further, the rising and moving apparatus 90 can move forward by tilting the normal vector of the stroke surface forward. At this time, the nose is positioned below the tail. Further, the rising and moving apparatus can move backward by tilting the normal vector of the stroke surface backward. At this time, the nose is positioned above the tail.

(Supplementary information)
Further, as long as the behavior of the deformed wing can be appropriately expressed, the fluid / structure interaction analysis method is not limited to that of the present embodiment, and any method may be used.

  Also, the experimental method is not limited to the one in this embodiment, and a method in which a change such as anisotropy is provided in the wing stiffness distribution may be used. In this case, an enlarged model may be used. Even when the enlarged model is used, the same effect as that obtained by the present invention can be obtained as long as the deformation mode of the wing is the same as that of the original model.

  Moreover, in this Embodiment, the minimum abstract thing for moving autonomously based on the instruction information from the outside is shown as a component of the rising and moving apparatus 90. That is, in the present embodiment, the rising and moving apparatus 90 is provided with a body 908, a control unit 901, an instruction receiving unit 902, a sensor unit 903, a driving unit 905, and a wing 904. However, the rising and moving apparatus 90 may be provided with components other than the above-described components depending on the required functions, and may not be provided with unnecessary components among the above-described components. For example, the instruction receiving unit 902 is not necessary when an instruction from the outside is not required. Further, if the sensor feedback control is not executed, the sensor unit 903 is not necessary.

  In this embodiment, since the reference flapping data is stored in advance in the fixed storage device 906, the reference flapping method is always the same. However, the reference flapping method need not always be the same.

  Further, the following method may be used. First, one of a plurality of flapping methods is selected as the reference flapping method, and a difference between the reference flapping method and the other flapping methods is calculated as a conversion amount of the flapping method and stored in the temporary storage device 907. Between the mode of movement of the rising and moving apparatus 90 at the time after the current flapping method is changed using the stored amount of flapping conversion, and the actual mode of movement of the target rising and moving apparatus 90 There may be a difference in. In this case, by correcting the amount of flapping conversion according to the actual state of the flapping rising and moving device 90, such as increasing or reducing the amount of flapping conversion described above, the driving amount of the new actuator can be reduced. Ask. Also by this method, the same effect as the above method can be obtained.

  In addition, when the control unit 901 has a learning function, not only the reference flapping data stored in the fixed storage unit 906 from the beginning of manufacture of the rising and moving apparatus 90 but also the learning result as described above. Using the flapping method changing method, the reference flapping method can be brought closer to a more appropriate flapping method.

  In this embodiment, only the left-right symmetric model is analyzed, so that only a left-right symmetric motion is realized. However, it is also possible to perform independent analysis for each of the left and right wings. For example, if the right wing moves forward and the left wing moves backward, the rising and moving apparatus 90 can turn left. Also in these controls, by adding the flapping change amount calculated by the control unit 901 to the reference flapping method, it is possible to obtain the same effect as that obtained by changing the flapping method described above.

(Embodiment 2)
In the present embodiment, the rising and moving apparatus capable of realizing the control of the flapping change performed by the rising and moving apparatus 90 of the first embodiment as described above is more specifically described with reference to FIGS. I will explain it. In the present embodiment, the configurations denoted by the same reference numerals and the same names as those in the first embodiment have the same functions as those described in the first embodiment. Further, the concept of the method of changing the flapping method of the rising and moving apparatus of the first embodiment is applied as it is to the rising and moving apparatus of the present embodiment. Further, among the configurations of the rising and moving apparatus described in the first embodiment, the flapping and rising and moving apparatus of the present embodiment is also provided for configurations and functions that are not described in the present embodiment. In the present embodiment, the rising and moving apparatus 90 in the first embodiment is referred to as a rising and moving apparatus 1.

(Overall configuration)
First, an overall main configuration of the rising and moving apparatus according to the present embodiment will be described with reference to FIGS. 13 and 14. In the rising and moving apparatus of the present embodiment, unless otherwise specified, for convenience of explanation, it is assumed that the wings and the main parts that drive the wings are configured symmetrically. Therefore, hereinafter, only the left half component of the rising and moving apparatus will be described, and the component that is plane-symmetric with respect to the left half is provided as the right half of the rising and moving apparatus. To do. However, this is for convenience of explanation, and in the rising and moving apparatus of the present invention, it is not a necessary condition to be symmetrical. For example, even a configuration in which three or more sets of the components are provided, or a configuration in which only one set of the components is used can be used as the rising and moving apparatus of the present invention.

  As shown in FIGS. 13 and 14, the rising and moving apparatus 1 of the present embodiment includes an actuator 2 disposed on the support structure 9, a transmission shaft 33 driven by the actuator 2 via bearings 31 and 32, and The wing 4 driven by the transmission shaft 33 is a main component.

  For the transmission shaft 33, the direction in which the transmission shaft 33 extends to the transmission shaft 33 using the translational movement of the transmission shaft 33 (rotation of the actuator 2: movement of the transmission shaft 33 drawing a fan-shaped locus) is used as the central axis. A fixing member 34 is fixed as a mechanism for providing rotation (movement in which the wing 4 draws a fan-shaped locus when the wing 4 is viewed in the direction in which the transmission shaft 33 extends). The fixed member 34 contacts each of the contacted members 351 and 352 in the vicinity of both ends of the rotational movement of the actuator 2. The fixing member 34 moves while sliding on the contact surfaces of the contacted members 351 and 352. Thereby, the transmission shaft 33 performs a rotational movement with the direction in which the transmission shaft 33 extends as a central axis. The fixing member 34 has two independent protrusions 34a and 34b corresponding to the contacted members 351 and 352, respectively. Therefore, in FIG. 13, the fixing member 34 is depicted as a single component, but the structure of FIG. 13 is equivalent to a structure in which two protrusions are provided.

  The relative positions of the contacted members 351 and 352 with respect to the support structure 9 can be changed by the functions of the contacted member moving mechanisms 361 and 362 provided in the support structure 9. The contacted member moving mechanisms 361 and 362 have a force larger than the reaction force that the fixing member 34 exerts on the contacted members 351 and 352 when the fixing member 34 moves on the surface while contacting the contacted members 351 and 352. Thus, the contacted members 351 and 352 are held.

  The limit sensors 353 and 354 are sensors that detect that the fixing member 34 has reached both ends of rotation. Control device 5 reverses the rotation direction of actuator 2 based on signals received from limit sensors 353 and 354, respectively. Thereby, the reciprocating rotational movement of the actuator 2 is efficiently performed.

  Further, the chord direction and the vertical direction of the wing 4 are based on the state in which the chord length direction of the wing 4 coincides with the vertical direction in FIG. 13, that is, the negative Z-axis direction and the trailing edge of the wing is directed downward. Is limited to a range of ± 30 degrees. Therefore, the bearings 31 and 32 also function as a rotation limiting mechanism that limits the rotation angle of the transmission shaft 33 whose central axis is the direction in which the transmission shaft 33 extends.

  The range in which the rotation angle is limited to ± 30 degrees is an example for ease of explanation, and the range of the rotation angle limitation is not limited to the above-described numerical values. For example, if it is assumed that the wing 4 is a rigid body, it is desirable that the range of the limited rotation angle is about ± 80 degrees.

  With the above configuration, when the actuator 2 reciprocates around the rotation center axis of the actuator 2, the fixed member 34 contacts the contacted members 351 and 352 in the vicinity of both ends. Thereby, the transmission shaft 33 rotates about the direction in which the transmission shaft 33 extends as a central axis. Thereafter, it is detected that each of the limit sensors 353 and 354 has reached both ends of the rotation of the fixing member 34. At this time, each of the limit sensors 353 and 354 transmits a detection signal to the control unit 5. Thereby, the control unit 5 receives the detection signal and reverses the rotational movement of the actuator 2. As a result, the direction of the rotational movement is reversed, so that the fixing member 34 is separated from the contacted member 351 or 352. As a result, the rotation angle of the transmission shaft 33 with the direction in which the transmission shaft 33 extends is limited by the rotation limiting mechanism. Therefore, the wing 4 moves with a constant angle of attack with respect to the surrounding fluid. In addition, if the transmission shaft 33 moves at a speed equal to or higher than a predetermined speed, the wing 4 receives a predetermined fluid force from the surrounding fluid, so that the suppression angle is kept constant.

  As described above, the wing 4 is applied with lift similar to the lift applied to the wing of a general aircraft near the center of the reciprocating rotational motion of the actuator 2. Further, the wing 4 generates rotational lift by the rotational motion of the transmission shaft 33 with the direction in which the transmission shaft 33 extends as the central axis in the vicinity of both ends of the reciprocating rotational motion. Thereby, the rising and moving apparatus 1 is lifted by receiving a vertically upward force.

  In addition, the rising and moving apparatus 1 according to the present embodiment uses the contacted member moving mechanisms 351 and 362 to separately and independently center the center of amplitude of rotation of the actuator 2 of the left and right wings 4. Shift to the front or back in the direction of travel. Thereby, the rising and moving apparatus 1 of the present embodiment changes the advancing direction to either the left or right, or performs either forward or backward movement. Note that the rotational movement about the axis extending in the front-rear direction of the rising and moving apparatus 1, that is, the Y axis, is the reciprocating rotational motion of the actuator 2 of the left wing 4 and the reciprocating rotational motion of the actuator of the right wing 4. This is realized by changing at least one of the amplitude and the frequency in at least one of the above.

  Each of the actuator 2 and the contacted member moving mechanisms 361 and 362 is controlled by the control unit 5. In addition, the actuator 2, the contacted member moving mechanisms 361 and 362, and the control unit 5 are operated by electric power supplied from the power source 6.

(Support structure)
Next, the support structure 9 will be described. The support structure 9 has a mass within a range that does not impair the function as the support structure, and is desirably lighter. This range can be determined by conventional engineering techniques. For example, the rigidity is reduced too much due to weight reduction, and the energy for driving the wing 4 is not dissipated as vibration of the support structure 9 is a criterion for determining the range. In the rising and moving apparatus 1 of the present embodiment, lightweight carbon graphite is used for the support structure 9.

(Wing drive)
Next, the wing drive unit will be described with reference to FIGS.

(Actuator)
First, the actuator 2 will be described with reference to FIG.

  In the rising and moving apparatus 1 of the present embodiment, a motor generally called an ultrasonic motor is used as the actuator 2. The ultrasonic motor can rotate the rotor portion 22 with respect to the stator portion 21 fixed to the support structure 9 as indicated by an arrow in FIG.

(Bearing and its rotation limiting mechanism)
The outer peripheral portions 31 a and 32 a of the bearings 31 and 32 are fixed to the rotor portion 22. The bearings 31 and 32 are configured so that the inner peripheral portions 31b and 32b can smoothly rotate with respect to the outer peripheral portions 31a and 32a, and the transmission shaft 33 is fixed to the inner peripheral portions 31b and 32b. Therefore, the actuator 2 can rotate the transmission shaft 33 around the rotation center axis of the actuator 2 in a plane including the direction in which the transmission shaft 33 extends and parallel to the main surface of the actuator 2. It is.

  Further, the rotation angle of the bearing 31 is limited to about 60 degrees by the engagement between the portions provided on the outer peripheral portion 31a and the inner peripheral portion 31b that restrict the relative positional relationship with each other. The rotation angle of the bearing 32 is limited to about 60 degrees by the engagement between the portions provided on the outer peripheral portion 32a and the inner peripheral portion 32b that restrict the relative positional relationship between them.

  Note that the method of limiting the range of the rotation angles of the bearings 31 and 32 to a certain value or less is not limited to the method described above. Therefore, in FIG. 14 and FIG. 15, for the convenience of explanation, the portion for limiting the range of the rotation angle of each of the bearings 31 and 32 to a predetermined value or less is an arc-shaped mark with hatching. It is expressed in Moreover, if it has a mechanism which can change the magnitude | size of each rotation angle of the bearings 31 and 32 restrict | limited by a rotation limitation mechanism, it is possible to change the angle of attack of the wing | blade 4. FIG.

(Transmission shaft rotation mechanism by protrusions of contacted member and fixed member)
Next, the fixing member 34 and the contacted members 351 and 352 will be described with reference to FIGS.

  For simplicity of explanation, the contacted member moving mechanisms 361 and 362 and the contacted members 351 and 352 are positioned in the peripheral surface of a virtual cylinder having a similar circular shape to the bottom surface of the disk-shaped actuator 2 shown in FIG. Accordingly, the peripheral surface of the cylinder is developed and shown in FIG.

  The fixing member 34 can rotate about the direction in which the transmission shaft 33 extends as a central axis, but its rotation is limited within a range of ± 30 degrees by the bearings 31 and 32 functioning as the rotation limiting mechanism described above. . The state shown in FIG. 15 is a state in which the rotation angle of the transmission shaft 33 is −30 degrees, that is, the state in which the transmission shaft 33 is rotated most clockwise when viewed from the tip side of the wing 4.

  In FIG. 15, it is assumed that the transmission shaft 33 moves in the right direction. At this time, a fluid force is applied to the wing 4 in the upper left direction in FIG. Therefore, since the wing 4 is below the transmission shaft 33, clockwise torque is applied to the transmission shaft 33 from the wing 4. However, due to the function of the bearings 31 and 32 as the rotation limiting mechanism, the transmission shaft 33 does not rotate clockwise more than −30 degrees. Therefore, in the state shown in FIG. 15, the fluid force applied to the wing 4 is transmitted to the rising and moving apparatus 1 via the transmission shaft 33 as a force in the upper left direction in FIG. 15.

  Further, when the transmission shaft 33 moves to the right side from the state of FIG. 15, the fixing member 34 comes into contact with the curved surface portion provided on the contacted member 351. Thereafter, by further moving the transmission shaft 34 in the right direction, the fixing member 34 moves while contacting the curved surface portion of the contacted member 351. Note that the manner of contact between the fixed member 34 and the curved surface portion depends on the driving mode of the actuator 2, the attachment position of the contacted member 351 and the fixed member 34, whether or not the contacted member 351 moves, and the shape of the contacted member 351. To be determined.

  However, in the present embodiment, it is necessary that the impact at the time of collision between the fixed member 34 and the contacted member 351 is reduced, and the rotation of the transmission shaft 33 is started smoothly. Therefore, the moving direction of the fixing member 34 is substantially the same as the direction in which the curved surface portion extends at the position where contact with the fixing member 34 starts, and the curved surface portion is a curve represented by a quadratic function, a cubic function. It shall be located on the curve represented by (4) or the curve represented by the function of 4th order or more.

  Further, in order to prevent a collision between the transmission shaft 33 itself and the contacted member 351, the fixing member 34 includes a first shaft 34c extending in a direction perpendicular to the transmission shaft 33 and the first shaft 34c as shown in FIG. A second shaft 34d extending in a direction perpendicular to the transmission shaft 33 when viewed from a direction perpendicular to the shaft 34c and extending in the first shaft 34c. In addition, a spherical protrusion 34a and a spherical protrusion 34b are provided at both ends of the second shaft 34d.

  When the protrusion 34b reaches the rightmost end on the contacted member 351, the transmission shaft 33 starts to move in the left direction. At this time, the direction of the fluid force applied to the wing 4 is diagonally upward to the right in FIG. Further, counterclockwise torque is applied to the transmission shaft 33 when viewed from the tip side of the wing 4. Therefore, the transmission shaft 33 moves to the left in FIG. 15 with the rotation angle fixed at +30 degrees by the rotation limiting mechanism. Thereafter, the protrusion 34 a comes into contact with the contacted member 352. At this time, the aspect in which the protrusion 34 a moves on the curved surface portion of the contacted member 352 and the aspect in which the protrusion 34 b moves on the curved surface portion of the contacted member 351 are symmetric in FIG. 15. However, in FIG. 15, the contacted member 351 is different from the manner in which the protruding portion 34 a moves on the curved surface portion of the contacted member 352 and the manner in which the protruding portion 34 b moves on the curved surface portion of the contacted member 351. The shape or material of the contact member 352 may be different from the shape or material, or the shape or material of the protrusion 34a may be different from the shape or material of the protrusion 34b.

  If the wing 4 is a rigid body, the wing 4 and the transmission shaft 33 move as shown in FIG. However, actually, the wing 4 is elastically deformed. Therefore, in order to realize a motion equivalent to the motion of the rigid wing 4 shown in FIG. 16, it is most preferable to set the range in which the rotation angle is limited by the rotation limiting mechanism to be smaller than when the wing 4 is a rigid body. Convenient. As a result, the movement of the wing 4 is as shown in FIG.

  Note that the fixed member 34 and the contacted members 351 and 352 in the rising and moving apparatus 1 of the present embodiment are not necessarily in the shape shown in FIG. 15 as long as the function of the rising and moving apparatus of the present invention can be realized. It doesn't have to be a position. For example, the fixing member 34 is arranged such that the first shaft extends from a position opposite to the position where the first shaft 34c shown in FIG. 15 is provided at the tip of the transmission shaft 33 further extended from the bearing 31. It may be provided. That is, in the space inside the actuator 2, in FIG. 15, the first shaft 34c is in the same direction as the direction in which the wings 4 extend with the same positional relationship between the first shaft 34c and the second shaft 34d. A fixing member 34 may be provided so as to extend. Also in this case, if the contacted members 351 and 352 are provided at positions corresponding to the fixing member 34, the same movement as that of the present embodiment and the movement of the wing 4 can be realized.

  In the rising and moving apparatus of the present embodiment, the rotation angle of the actuator 2 is ± 45 °. In addition, it is assumed that the rotation angle of the wing 4 is set to ± 30 ° with the direction in which the transmission shaft 33 generated by the rotation of the actuator 2 as ± 45 ° extends as the central axis.

(Contacted member moving mechanism)
Next, the contacted member moving mechanisms 361 and 362 will be described with reference to FIGS. 15 and 19.

  The contacted member moving mechanisms 361 and 362 are installed on the support structure 9 so that the contacted members 351 and 352 draw an arc-shaped locus similar to the rotation locus of the point on the outer periphery of the actuator 2. It has a function of moving the positions of the contacted members 351 and 352. The movement of the positions of the contacted members 351 and 352 corresponds to the movement of the contacted members 351 and 352 in the horizontal direction (left-right direction) in FIG.

  The positions of the contacted members 351 and 352 are shifted to the front or rear of the rising and moving apparatus 1, and the region where the trajectory of the rotation of the actuator 2 of the wing 4 is shifted to the front or rear of the rising and moving apparatus 1. . Thereby, the range of the amplitude of the flapping motion and the center position of the amplitude can be changed. As a result, control such as switching of the flight direction, which will be described later, can be easily performed.

  Further, the contacted member moving mechanisms 361 and 362 can control the rotation angle of the transmission shaft 33 with the direction in which the transmission shaft 33 extends as the central axis. For example, if the contacted member 351 or 352 is moved in the same direction as the movement direction of the transmission shaft 33 while the fixed member 34 is in contact with the contacted member 351 or 352, the direction in which the transmission shaft 33 extends is centered. The rotation operation of the transmission shaft 33 as a shaft is slower than the case where the contacted member 351 or 352 is not moved.

  The contacted member moving mechanisms 361 and 362 are not particularly limited in configuration as long as conditions such as torque, mass, and energy consumption are set so that the contacted members 351 and 352 can be moved. . Therefore, as shown in FIG. 19, an ultrasonic linear actuator 381 having excellent responsiveness is used for each of the contacted member moving mechanisms 361 and 362 of the rising and moving apparatus 1 of the present embodiment. FIG. 19 is a sectional view of the contacted member moving mechanism 361 and the contacted member 351 when the contacted member moving mechanism 361 is cut perpendicularly to the paper surface in the developed view of FIG.

  The configurations of the contacted member 352 and the contacted member moving mechanism 362 and the configurations of the contacted member moving mechanism 361 and the contacted member 351 are mirror-symmetric. In addition, in order to reduce the weight, a Teflon (R) bearing 371 having excellent lubricity is used in a contact portion between the contacted member moving mechanism 361 and the contacted member 351 where an ultrasonic linear actuator does not exist. ing. Further, in order to reduce the influence of the force applied to the ultrasonic linear actuator 381 due to the reaction force applied from the air to the wing 4, the ultrasonic linear actuator 381 has a surface having a normal direction in which the transmission shaft 33 extends. It is provided so that it may extend along the surface in parallel.

  Further, the contacted member moving mechanisms 361 and 362 are provided at positions shifted from the path along which the fixed member 34 moves in order to avoid interference between the fixed member 34 and the contacted member moving mechanisms 361 and 362.

(Hanebe)
Next, the wing 4 will be described with reference to FIGS.

(Outline of shape and rigidity)
As shown in FIG. 14, the wing 4 is directly fixed to the transmission shaft 33 and is a flat plate having a substantially uniform thickness. The wing 4 has an ellipse having a major axis length of about 20 mm and a minor axis length of about 5 mm at a location approximately 2.5 mm from the major axis parallel to the major axis and the minor axis. The shape of the portion corresponding to the largest portion is used when it is cut in parallel at about 8 mm from the short axis.

  Further, the wing 4 is made of a light and hard resin. Further, the wing 4 is formed by laser cutting. Therefore, an edge is formed on the contour portion of the wing 4. Due to this edging, the strength of the wing 4 is increased.

  Further, as representative of the rigidity of the wing 4 used by the present inventors, the distance from the transmission shaft 33 in the direction perpendicular to the direction in which the transmission shaft 33 extends when the transmission shaft 33 is restrained is 17. FIG. 21 shows the load-displacement relationship at a position of 1 mm.

(Wing movement and torsional displacement expansion mechanism)
The behavior of the wing according to the present embodiment will be described with reference to FIGS.

  In the rising and moving apparatus 1 of the present embodiment, the flapping method shown in FIG. 16 is employed in which positive rotational lift is obtained at both ends of the reciprocating motion of the wing 4 in the front-rear direction.

  At this time, for the sake of convenience, the operation of moving the wing 4 from the front to the rear in the moving direction of the rising and moving apparatus 1 is defined as the wing launching operation, and the operation in the opposite direction is defined as the down-motion operation. However, since the wing launching and wing lowering operations are generally horizontal movements with respect to the ground, the wing launching and wing lowering operations are almost perpendicular to the ground. It does not mean the action performed in

  The movement of the wing 4 of the rising and moving apparatus of the present embodiment is as shown in FIG. 16, but the angle of attack θ needs to be about 10 ° in order to obtain lift efficiently. For this reason, in a state where there is almost no elastic deformation of the wing 4, it is necessary to rotate the wing 4 by about 160 ° in switching between the launch operation and the down operation.

  However, if a wing 4 having a large degree of elastic deformation is used, the rotation angle with the direction in which the transmission shaft 33 extends as the rotation center axis is maintained while maintaining the state where the angle of attack θ is approximately 10 °. It can be made smaller. That is, in the rising and moving apparatus 1 of the present embodiment, the rotational angle of the tip (rear edge) of the wing 4 in the direction perpendicular to the transmission shaft 33 is further increased by passively deforming the wing 4 by aerodynamics. Adopt a method.

  According to the experiments by the present inventors, at both ends of the reciprocating motion of the wing 4 in the front-rear direction, the wing 4 is rotated about ± 30 ° with the direction in which the transmission shaft 33 extends as the rotation center axis. As a result of the passive deformation, a rotation angle of the wing 4 of about ± 80 ° is obtained at a position far from the transmission shaft 33 from the central portion of the wing 4 in the direction perpendicular to the transmission shaft 33. By the flapping motion used by the inventors in the experiment, a floating force equivalent to the motion of the wing 4 shown in FIG. 16 can be obtained. The behavior of the wing 4 at this time is shown as a sectional view in FIG.

  As shown in FIG. 18, the rotation angle of the wing 4 obtained by the rotation of the actuator 2 is α, and the rotation angle obtained by the rotation about the direction in which the transmission shaft 33 extends is the center axis. The relationship between α and β in the case of β is shown in FIG. This is an example in which the movement of the wing is expressed numerically, and the movement of the wing that satisfies the requirements of the present invention is not limited to this. In FIG. 22, one cycle of flapping is divided into down and up, but a section in which the rotation angle β of the transmission shaft 33 changes in the direction in which the transmission shaft 33 extends (phase rate is 0.4 to 0.6). Further, the flapping method of only this section may be changed.

(Control part)
Next, operation | movement of the control part 5 and the flight control method using the same are demonstrated using FIGS. In the present embodiment, PWM (Pulse Width Modulation) control for controlling the rotation speed of the actuator 2 by changing the duty ratio of the pulse waveform of the voltage applied to the actuator 2 is adopted. However, as a method of controlling the rising and moving apparatus 1 of the present embodiment, a method of controlling the rotation speed of the actuator 2 by changing the magnitude of the voltage applied to the actuator 2 may be used.

  For the sake of simplicity of explanation, in the present embodiment, control for changing the rising and moving apparatus 1 to a state having the acceleration vector or the angular acceleration vector specified by the instruction signal Xd described in the first embodiment. I will explain only. That is, the instruction signal Xd for specifying the target exercise state to be instructed is represented by a numerical notation of an acceleration vector or an angular acceleration vector. However, the instruction signal Xd for specifying the target motion state may be expressed by other parameters. For example, even when the rising and moving apparatus 1 has a function of calculating an optimum route and autonomously determines a target motion state, the control unit 5 finally processes acceleration and angular acceleration. Become. In such a case, a method similar to the above-described method can be applied to the control by the control unit 5 after calculating the parameters representing the acceleration and the angular acceleration. That is, for the instruction signal Xd and the information X or the value (Xd−X) in FIG.

(Hardware configuration)
The control unit 5 includes an arithmetic processing device (hereinafter referred to as “CPU (Central Processing Unit)”) 501, a read-only memory (hereinafter referred to as “ROM (Read Only Memory)”) 502, and a temporary storage device (hereinafter referred to as “ROM”). It is referred to as “RAM (Random Access Memory)”) 503 and an operation instruction input unit 505. In the present embodiment, the difference (Xd−X) between the target movement state (Xd) of the rising and moving apparatus 1 and the current movement state (X) of the rising and moving apparatus 1 is already given. Assumes. However, any method may be used for obtaining a difference between the target motion state of the rising and moving apparatus 1 and the current method of acquiring the moving state of the rising and moving apparatus 1. Further, generally used commercial processors often include functions corresponding to the ROM 502 and RAM 503. Since the functions of the RAM 503 and the register are equivalent, they are physically incorporated in the CPU in the present invention. The read-only area or the temporary storage area is also handled as the ROM 502 or RAM 503, respectively. A block diagram specifying these configurations is shown in FIG.

  ROM 502 stores reference flapping data F at the time of hovering, that is, flapping data for realizing the mode shown in FIG. 22 (FIGS. 4 and 5 in the first embodiment). In the present embodiment, the duty ratio of the pulse waveform of the voltage applied to the actuator 2 at the time of launch and at the time of down is used as a parameter for realizing the flapping manner of the aspect shown in FIG. Is stored in the ROM 502. In the present embodiment, the duty ratio of the pulse waveform of the voltage applied to the actuator 2 during hovering is 0.9. Further, the ROM 502 stores data M of a function for specifying a conversion amount for applying a predetermined conversion to the reference flapping method, and data Am for sensitivity of change in the motion state of the rising and moving apparatus 1 for the predetermined conversion. Has been. Each of these data M and Am is data similar to that of the first embodiment.

  In the actual rising and moving apparatus 1, a plurality of types of data M and Am are provided corresponding to the vertical direction control, the front-rear direction control, and the elevation angle control, for example, as described in the first embodiment. It has been. Data M and data Am have a one-to-one correspondence. Further, in actual control, flapping conversion is performed by an algorithm in which a plurality of types of data M are combined.

(Actuator control method)
In the present embodiment, for ease of explanation, the rotational speed of the actuator 2 is controlled by changing the duty ratio of the pulse waveform of the voltage applied to the actuator 2 at the time of launch and at the time of downstroke. Shall. FIG. 24 shows the relationship between the duty ratio and the driving frequency of the actuator 2, that is, the rotational angular velocity (rotational angular velocity).

  The CPU 501 outputs an actuator drive pulse in accordance with the above-described duty ratio data to the actuator 2. The output actuator drive pulse is converted into a drive signal for the actuator 2 by the driver circuit 506. The driver circuit 506 outputs a signal for rotating the actuator 2 clockwise to the actuator 2 when the actuator drive pulse is positive. The driver circuit 506 outputs a signal for rotating the actuator 2 counterclockwise to the actuator 2 when the actuator drive pulse is negative. Further, the driver circuit 506 outputs a signal for stopping the actuator 2 to the actuator 2 when the actuator driving pulse is zero. An example of a signal given to the driver circuit 506 by the CPU 501 is schematically shown in FIG.

  In the rising and moving apparatus of the present embodiment, data that realizes the flapping method during hovering as shown in FIGS. 4 and 5 is used as the basic flapping data. This basic flapping data is data for specifying the duty ratio of the pulse waveform output from the driver circuit 506, and is stored in the ROM 502.

(Data processing in control)
The rising and moving apparatus 1 includes a six-degree-of-freedom acceleration sensor 504 as means for grasping the current movement state of the current rising and moving apparatus. The six-degree-of-freedom acceleration sensor 504 detects the current acceleration and angular acceleration of the rising and moving apparatus 1 and transmits the detected values to the CPU 501 as information X indicating the current movement state of the rising and moving apparatus 1. Thereby, CPU501 calculates the speed, angular velocity, a position, and attitude | position of the present rising and moving apparatus 1 using the information X which shows the present exercise state.

  The velocity is obtained by first-order integration of acceleration, and the angular velocity is obtained by first-order integration of angular acceleration. The position is obtained by second-order integration of acceleration, and the posture is obtained by second-order integration of angular acceleration.

  In the present embodiment, for the sake of simplicity of explanation, the initial value of the information X indicating the current motion state is assumed to be known. For example, the motion state in the stationary state before takeoff, that is, the acceleration and angular acceleration Data indicating that both are zero is stored in the RAM 503 as an initial value of the information X indicating the current exercise state. As described above, the CPU 501 acquires information X indicating the current exercise state. Information X indicating the current exercise state acquired by the CPU 501 is stored in the RAM 503.

  Further, the rising and moving apparatus 1 includes an operation instruction input unit 505 that acquires an instruction signal Xd that specifies the target motion state. The instruction signal Xd for specifying the target motion state is generally data transmitted by communication from an external device of the rising and moving apparatus 1, but the instruction signal Xd for specifying the target motion state is Any method may be adopted as long as it is obtained. Therefore, in the present embodiment, detailed description regarding communication by an external device is not performed. In the present embodiment, it is assumed that acceleration information in the instruction signal Xd for specifying the target exercise state is given from the operation instruction input unit 505 to the CPU 501. Thereby, the CPU 501 obtains the instruction signal Xd that specifies the target exercise state. The instruction signal Xd specifying the target motion state (acceleration data) acquired by the CPU 501 is stored in the RAM 503.

  Further, the CPU 501 determines the driving mode of the actuator 2 using the instruction signal Xd that specifies the target motion state and the information X that specifies the current motion state (the flapping flight mode). More specifically, the current acceleration value is subtracted from the target acceleration value stored in the RAM 503. Thereby, the change amount of the acceleration vector is calculated.

  Further, the CPU 501 determines a conversion mode to be applied to the reference flapping method using the change amount of the acceleration vector according to the control algorithm described in the first embodiment. After that, the CPU 501 realizes the converted flapping method, the time history of the potential of the actuator driving pulse waveform output to the driver circuit 506, that is, the pulse width of the voltage waveform and the interval between the pulses of the voltage waveform ( Time). Thereby, the CPU 501 calculates the duty ratio of the actuator drive pulse. The driver circuit 506 drives the actuator 2 using an actuator drive pulse with a duty ratio given from the CPU 501.

  In addition, all the various control methods of Embodiment 1 shall be performed by changing the flapping speed (frequency) in the specific phase region of flapping or the entire region. Therefore, the flapping method can be changed by a method of changing only one parameter, such as changing the duty ratio of the actuator driving pulse.

  Further, hereinafter, for the sake of simplicity of explanation, only a method for controlling the change in acceleration in the vertical direction will be described as an example of a change in flapping. Similarly, for the convenience of explanation, the current motion state (information X) employs a hovering state, that is, a state in which each of speed, angular velocity, acceleration, and angular acceleration is zero. Further, the above-described reference flapping data F is used as data for specifying the flapping method during hovering.

(Control flow)
The control flow of the rising and moving apparatus 1 of the present embodiment is as shown in FIG. 27, and details of the flow will be described next.

  (Step 1) First, six acceleration data X indicating the current motion state of the rising and moving apparatus 1 acquired by the six-degree-of-freedom acceleration sensor 504 shown in FIG. 23 is stored in the RAM 503. Note that the six acceleration data are the acceleration data of the three translational motions in the directions along the X-axis, Y-axis, and Z-axis in FIG. 13, and the X-axis, Y-axis, and It is data of angular acceleration of three rotational movements with each of the Z axes as the central axis.

  (Step 2) Next, the CPU 501 stores in the RAM 503 an instruction signal Xd (target six acceleration data) that specifies the target exercise state obtained by the operation instruction input unit 505.

  (Step 3) The CPU 501 follows the Z axis of the information X that specifies the current motion state from the acceleration Xz of the translational motion in the direction along the Z axis in the instruction signal X that specifies the target motion state. The acceleration Xdz of the translational motion in the direction is subtracted. Thereby, the CPU 501 calculates the amount of change in the acceleration vector in the direction along the Z axis.

  (Step 4) In order to change the reference flapping data F stored in the ROM 502, the CPU 501 selects data M of a specific function from among a plurality of types of functions stored in the ROM 502. In the present embodiment, since the object to be controlled is a change in the vertical position, a function for increasing or decreasing the flapping frequency is selected as the function data M. The function data M is to increase or decrease the duty ratio of the voltage pulse waveform applied to the actuator 2. Further, by determining the data M of the function that changes the data F indicating the reference flapping method, the data indicating the sensitivity of the change in the position of the rising and moving apparatus 1 due to the flapping conversion performed by the function data M Am is also uniquely selected. Here, the function data M is a function for converting the duty ratio, and the sensitivity data Am is a component in the Z-axis direction of the change amount of the acceleration vector of the rising and moving apparatus 1 with respect to the change amount of the duty ratio. . For example, Am = 10.9.

  (Step 5) The CPU 501 divides the value (Xd−X) of the vertical component of the change amount of the acceleration vector by the data Am indicating the sensitivity, and calculates the conversion amount C of the reference flapping method. For example, if Xd−X = 0.545, the flapping conversion amount C = 0.05.

  (Step 6) In order to perform the conversion of the flapping amount of the conversion amount C, the CPU 501 applies the data M (C) to the data F of the reference flapping method. In this case, the conversion amount C = 0.05 is added to 0.9, which is the duty ratio for the reference flapping. Therefore, a flapping method (flapping frequency) when the duty ratio of the voltage pulse waveform applied to the actuator 2 is 0.95 is obtained. If it is feared that the attitude of the rising and moving apparatus 1 becomes unstable by changing the duty ratio extremely large, the duty ratio is changed from 0.9 to 0.95 as shown in FIG. It is desirable to use a method of gradually and gradually changing the level. That is, it is desirable that the function obtained by differentiating the function for changing the duty ratio is a continuous function. Note that the speed of the flapping operation can be changed by changing the duty ratio, that is, the time axis of the basic flapping method can be enlarged or reduced.

  (Step 7) The CPU 501 gives the actuator drive pulse generated by using the converted duty ratio data to the driver circuit 506. Thereby, the drive current given to the actuator 2 changes so as to increase. As a result, the rotation speed of the actuator 2 increases as shown in FIG. As a result, the Z-axis direction component of the acceleration vector increases. That is, the acceleration increases to 0.54.

(Requirements for rising)
According to the experiments by the present inventors, the maximum value of the levitation force generated by the movement of the wing 4 shown in FIG. 22 is about 0.13 gf per wing. Further, the driving torque of the actuator 2 necessary for obtaining this levitation force is about 1 gf · cm at the maximum.

  The mass of the wing 4 is about 5 mg. The mass of the main shaft 33 is about 3 mg. The mass of the fixing member 34 is about 2 mg. The mass of the contacted members 351 and 352 is about 6 mg. The mass of the actuator 2 is about 80 mg.

  The rising and moving apparatus 1 can float if the total weight of the support structure 9, the control unit 5, and the power supply 6 is within 68 mg. However, if the power supply 6 is supplied wirelessly, the conversion part of the power transmitted wirelessly and the control unit 5 are integrated on one chip, and the one chip is packaged on the support structure 9, the support structure 9 and the control unit The total mass of 5 is within 5 to 10 mg.

  Furthermore, since the efficiency of the actuator 2 can be improved by future technological innovation, it is possible to float the rising and moving apparatus of the present embodiment.

(Driving energy supply method)
In the rising and moving apparatus 1 of the present embodiment, the driving energy supply method is not limited as long as the flying function is not impaired.

  For example, a method of incorporating a rechargeable battery or a fuel cell in the rising and moving apparatus 1 or a method of transmitting electric power to an antenna provided on the wing 4 using radio waves from an external energy supply source is conceivable. In the rising and moving apparatus 1 of the present embodiment, the latter method is adopted.

(Supplement)
The above-mentioned contacted member, protrusion, and contacted member moving mechanism are examples, and if the flapping method shown in this embodiment can be realized without hindering the rising movement, the drive mechanism of the rising moving device is Other than the mechanism described above may be used.

  In the rising and moving apparatus 1 of the present embodiment, an ultrasonic motor is used as the actuator 2 in order to present a mechanism capable of realizing rising and moving at the present stage. If possible, a drive source other than the ultrasonic motor may be used. The movement of the actuator 2 is not particularly limited as long as it finally causes the transmission shaft 33 to perform the movement described above. For example, in order to reduce the weight, a method may be used in which a polymer material is used for the linear actuator and the transmission shaft 33 is moved by a link mechanism. Further, an internal combustion engine that is easy to reciprocate, such as a two-cycle engine, may be used as the actuator.

  Further, the movements of the transmission shaft 33 and the wings 4 are not limited to those shown in the present embodiment. For example, it is difficult to manufacture a complete rigid transmission shaft 33, and the transmission shaft 33 may be bent. In this case, the rising and moving apparatus 1 may move so that the tip of the transmission shaft 33 draws a horizontally-eighth figure. As long as the transmission shaft 33 is not extremely soft and impairs the levitation force, this may be any transmission shaft 33. Assuming that the rotation radius of the actuator 2 is infinitely large, the transmission shaft 33 is considered to simply reciprocate. Even in this case, it is possible to apply the flapping method changing method of the present invention.

  In addition, the shape of the wing 4 is an example of what the rising and moving apparatus can move up and down, and if the rising and moving movement can be realized, the configuration or material of the wing 4 is other configuration or material. May be. For example, the thickness of the wing 4 need not be uniform. In addition, wings created using a technique of changing aerodynamic characteristics by partially changing the rigidity by a technique such as sputtering of a metal film may be used.

  Further, the range of rotation limited by the rotation angle limiting mechanism need not be constant. As shown in FIG. 17, the manner of deformation of the wing by aerodynamics is different, so in order to maintain the optimum angle of attack, by controlling to appropriately change the range of rotation limited by the rotation angle limiting mechanism, The levitation force can be generated efficiently.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

(A) is a block diagram showing the concept of control of the rising and moving apparatus of Embodiment 1, and (b) is a figure showing the signal flow in control of the rising and moving apparatus of Embodiment 1. FIG. It is explanatory drawing showing the main components of the rising and moving apparatus of Embodiment 1. FIG. FIG. 3 is a diagram for explaining a wing model according to the first embodiment; 5 is a graph showing a state of movement of a point assumed on the wing when the reference flapping is performed in the first embodiment. 6 is a graph showing the state of another point of motion assumed on the wing when the reference flapping is performed in the first embodiment. 3 is a perspective view of a space into which elements are divided used for the simulation described in Embodiment 1. FIG. It is a 1st graph which shows the mode of the change of the movement state of the rising movement apparatus when the flapping frequency of Embodiment 1 is changed, (a) is a graph which shows the mode of the change of the position of the rising movement apparatus. (B) is a graph which shows the mode of a change of the elevation angle of a rising and moving apparatus. 6 is a graph for explaining that the flapping frequency is partially changed in the first embodiment. It is a graph which shows the mode of the change of the movement state of the rising and moving apparatus when the speed of the flapping motion of Embodiment 1 is partially changed, (a) shows the changed state of the position of the rising and moving apparatus. It is a graph, (b) is a graph which shows the mode of a change of the elevation angle of a rising and moving apparatus. In Embodiment 1, it is a graph showing how the movement state of the rising and moving apparatus changes when the position of the center of gravity is moved, (a) is a graph showing how the position of the rising and moving apparatus changes. (B) is a graph which shows the mode of a change of the elevation angle of a rising and moving apparatus. It is a figure which shows the mode of the change of the stroke surface of the flapping operation | movement of the rising and moving apparatus of Embodiment 1, (a) is a figure which shows the state after changing a stroke surface, (b) is a stroke surface. It is a figure which shows the state before changing. In Embodiment 1, it is a graph which shows the mode of the change of the motion state of the rising movement apparatus when the angle which a stroke surface makes with a horizontal surface is changed, (a) shows the mode of change of the position of a rising movement apparatus. It is a graph, (b) is a graph which shows the mode of a change of the elevation angle of a rising and moving apparatus. It is a figure which shows the main structures of the rising and moving apparatus of Embodiment 2. FIG. It is a figure which shows schematic structure of the drive mechanism of the rising and moving apparatus of Embodiment 2. FIG. It is a figure for demonstrating the mode of a motion of the drive mechanism of the rising and moving apparatus of Embodiment 2. FIG. It is a figure for demonstrating the aspect of the motion which the wing | wing part of the rigid body of the rising and moving apparatus of Embodiment 2 performs. It is a figure which shows the behavior of the wing | wing part which carries out elastic deformation of the rising and moving apparatus of Embodiment 2. FIG. It is a figure for demonstrating the angle showing the behavior of the wing | blade part of the rising and moving apparatus of Embodiment 2. FIG. It is a figure for demonstrating the outline of the to-be-contacted member moving mechanism of the rising and moving apparatus of Embodiment 2. FIG. It is a figure which shows the outline of the shape of the wing | blade part of the rising and moving apparatus of Embodiment 2. FIG. It is a graph showing the rigidity of the wing | blade part of the rising and moving apparatus of Embodiment 2. FIG. It is a graph showing the motion of the wing | blade part of the rising and moving apparatus of Embodiment 2. FIG. It is a block diagram showing the flow of the signal of the rising and moving apparatus of Embodiment 2. It is a graph showing the relationship between the duty ratio of the actuator drive pulse given to the driver circuit of the rising and moving apparatus of Embodiment 2, and the flapping frequency realized by the pulse. 6 is a graph illustrating an example of an actuator driving pulse of the rising and moving apparatus according to the second embodiment. It is a graph which shows the aspect of a change of the duty ratio of the rising and moving apparatus of Embodiment 2. 6 is a flowchart of control of the rising and moving apparatus according to the second embodiment.

Explanation of symbols

  90 levitation moving device, 901 control unit, 902 instruction receiving unit, 903 sensor unit, 904 wings, 905 drive unit, 907 fuselage.

Claims (11)

A wing for flapping and flying in a space where fluid exists,
A drive unit for driving the wing part;
A control unit for controlling a driving mode of the driving unit;
A rising and moving apparatus comprising: a storage unit storing data for determining the driving mode in the control unit;
The storage unit
Reference flapping method data for specifying a flapping method that serves as a reference for the wing portion, and data of a function for applying a predetermined transformation to the reference flapping method,
Including sensitivity data that can identify the degree of change in the flapping flight mode caused by the predetermined conversion,
The controller is
A calculation means for calculating a conversion amount of the reference flapping method data, using data specifying an aspect of flapping flight to be a target input from the outside, and the sensitivity data;
Using the conversion amount of the reference flapping data and the data of the function, conversion means for converting the reference flapping data to specific flapping data,
An ascent movement apparatus comprising: output means for outputting a signal for driving the driving unit to the driving unit using the specific flapping data.   2. The rising and moving apparatus according to claim 1, wherein the reference flapping method data is data set so that the wing portion performs periodic motion.   The reference flapping data is data of flapping in which the movement of the rising and moving apparatus becomes a uniform acceleration movement when the data of the same phase of each period of the periodic movement is expressed in time series. Item 3. The rising and moving apparatus according to item 2.   The reference flapping data is data of flapping how the motion of the rising and moving apparatus becomes a conformal acceleration motion when the data of the same phase of each cycle of the periodic motion is represented in time series, The rising and moving apparatus according to claim 2.   2. The rising and moving apparatus according to claim 1, wherein the reference flapping data is data on how to flutter when the rising and moving apparatus is hovered.   The rising and moving apparatus according to claim 2, wherein the data of the function is data that performs conversion only on a specific phase section of the reference flapping data.   The rising and moving apparatus according to claim 6, wherein the specific section is a section in which the wing is launched, a section in which the wing is down, or a section in which the wing is turned back.   3. The rising and moving apparatus according to claim 2, wherein the predetermined conversion is performed by changing a time axis of the basic flapping data.   9. The rising and moving apparatus according to claim 8, wherein the change of the time axis is performed so that a function obtained by differentiating a function for changing the time axis with respect to time becomes a continuous function. A plurality of types of data of the function are provided,
The conversion means selects data of a specific function from the data of the plurality of types of function according to the type of data specifying the flapping flight mode to be targeted, and uses the specific function. The rising and moving apparatus according to claim 1, wherein the predetermined conversion is performed. A plurality of types of data of the function are provided,
The rising and moving apparatus according to claim 1, wherein the conversion unit performs the predetermined conversion using data obtained by combining data of a plurality of types of functions.

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