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<p>In pursuit of a high folding ratio, existing bio-inspired Flapping-Wing Aerial Vehicles (FWAVs) face a contradiction between the decline in aerodynamic efficiency and the sharp increase in structural complexity. This paper proposes a active-passive cooperative folding strategy based on the flight mechanism of birds. A “non-coplanar three-wing segments + slide rail link” active folding mechanism was constructed to achieve a 60° large-angle spatial contraction. A flexible joint at the leading edge was introduced to utilize the aeroelastic effect to achieve adaptive passive deformation during the flapping cycle, effectively compensating for the additional load loss caused by the folding mechanism. A lightweight on-board control system based on ESP32-C3 was built, integrating MPC and adaptive PID algorithms to solve the nonlinear attitude coupling problem during the morphing process. Experiments show that this configuration maintains a high folding ratio of 3.43 while increasing lift by 12.6% and thrust by 11% compared to traditional folding wings. A prototype with a wingspan of 1.3&#xa0;m successfully achieved stable passage through a 0.6&#xa0;m wide slit (success rate of 71.4%). This study reveals the cooperative mechanism of morphing flapping wings from the three dimensions of “structure-aerodynamics-control”, providing a new theoretical paradigm and engineering path for the mission execution of micro air vehicles in complex and restricted environments.</p>

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Research on narrow space crossing of flapping wing vehicle

  • 期刊论文

  • 发表日期：

    2026年5月8日

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  • Yongqiang Zhu,
  • Hongli Wang,
  • Pingxia Zhang

摘要

In pursuit of a high folding ratio, existing bio-inspired Flapping-Wing Aerial Vehicles (FWAVs) face a contradiction between the decline in aerodynamic efficiency and the sharp increase in structural complexity. This paper proposes a active-passive cooperative folding strategy based on the flight mechanism of birds. A “non-coplanar three-wing segments + slide rail link” active folding mechanism was constructed to achieve a 60° large-angle spatial contraction. A flexible joint at the leading edge was introduced to utilize the aeroelastic effect to achieve adaptive passive deformation during the flapping cycle, effectively compensating for the additional load loss caused by the folding mechanism. A lightweight on-board control system based on ESP32-C3 was built, integrating MPC and adaptive PID algorithms to solve the nonlinear attitude coupling problem during the morphing process. Experiments show that this configuration maintains a high folding ratio of 3.43 while increasing lift by 12.6% and thrust by 11% compared to traditional folding wings. A prototype with a wingspan of 1.3 m successfully achieved stable passage through a 0.6 m wide slit (success rate of 71.4%). This study reveals the cooperative mechanism of morphing flapping wings from the three dimensions of “structure-aerodynamics-control”, providing a new theoretical paradigm and engineering path for the mission execution of micro air vehicles in complex and restricted environments.