抄録
We constructed a PID feedback control system for newly developed dragonfly-type flapping robot. Each flapping wing is driven by a scissors-swing-motor (SSM), which consists of a couple of voice-coil-motors (VCMs) used in commercial hard-disk-drive. Angle of each VCM arm is detected by a resistance potentiometer, and it is used as feedback signal for the PID control. A continuous flapping motion oscillating according to a sine function of 2〜3 Hz has been well achieved by a simple PI control. To follow up a step-function signal, full PID control is necessary to minimize the settling time. The two VCMs in a SSM are so conjugated that the motion of VCM arms are largely affected by each other. Optimum parameter set for the PID control depends on the wing shape, thickness, and the angle between two arms in the SSM.
