中文摘要：

基于准稳态气动力模型，推导了仿蜜蜂类昆虫扑翼气动力和力矩估算公式，建立了扑翼运动函数．将仿蜜蜂类昆虫扑翼视为空间运动刚体，在其动力学方程基础上，采用分层控制策略研究悬停控制问题．外层为位置控制，X和Y位置应用PD控制算法，Z位置应用切换控制方法；内层姿态控制采用切换控制方法，并选择了一套机翼运动参数用于切换控制．最后进行了仿蜜蜂类昆虫扑翼悬停控制仿真试验，试验结果表明所设计的控制策略是有效的，一旦昆虫扑翼受到干扰偏离平衡位置后，通过自动调节能够回到平衡位置附近．

英文摘要：

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