中文摘要：

生物的扑翼飞行本质上是一种具有时间和空间对称性的节律运动，由中枢模式发生器（CPG）所产生和控制。根据昆虫扑翼飞行的原理，设计了一个两自由度扑翼机构，在构建基于非线性振子的扑翼飞行CPG模型的基础上，研究了系统的响应，分析了模型中各参数变化对系统特性的影响。通过对扑翼飞行控制模型的工程模拟，选择出系统的第一阶模态振动，并调节各参数，使扑翼飞行器实现不同的飞行模式。这种仿生控制策略提高了扑翼飞行的运动能力和控制水平，探索了关于扑翼节律运动产生与控制的新思路。

英文摘要：

The flapping-wing flying of living things is essentially a kind of rhythmic movement possessing the symmetry of time and space and is produced and controlled by central patterned generator. According to the principle of flapping-wing flying of insect this paper designed a flapping-wing mechanism with 2 degree of freedoms. On the basis of constructing the flapping-wing fly CPG model based on nonlinear oscillator, the response of system was studied, and the influence on the systematic properties affected by the variation of each parameter in the model was analyzed. Through the engineering simulation on the controlling model of flapping-wing flying, the first ordered modality vibration of the system was selected, and let the flapping-wing aircraft to realize different flying pattern by adjusting every parameter. This kind of bionic controlling strategy enhanced the kinematic ability and controlling level of flappingwing flying and explored new train of thought on the generation and control of flapping-wing rhythmic movement.