变形飞机机翼折叠机构设计及折叠角度测量

针对变形飞机机翼变形机构的设计要求，设计由舵机、蜗轮蜗杆机构、平行四边形机构组合而成的机翼变形机构，并设计基于三轴加速度计和DSP处理器的机翼折叠角度的测量算法和控制系统。利用加速度计分别求得机身和机翼相对于参考坐标系的角度，相减即得机身平面与机翼的夹角，制作一架小型折叠翼飞机模型对测量算法进行验证。结果表明：机翼能够稳定折叠在任一给定角度，测量算法准确，机翼实际折叠角度误差在可接受的范围内。

Wing Folding Mechanism Design and Angle Measurement for Morphing Aircraft

By combining servo, worm gear mechanism, parallelogram mechanism the wing＇s transformation structure requirements of morphing aircraft are met in our design. The fold-angle measurement algorithm and control system are designed based on 3-axis accelerometers and DSP（Digital Signal Processing） processor. With the accelerometer, the angles of both fuselage and wing in relation to the reference coordinate system can be measured, and then the resultant angle by taking subtraction can be received. In addition, a small-size plane model with foldable wing is made to verify the design. Results show that the wing has the ability of steadily folding to any given angle in the range from 0 to 90, and the measurement algorithm is precise with the error of fold angle being acceptable.