关键词: 数字孪生, 扑翼飞行器, 虚实映射, Webots平台, 虚拟调试

Abstract: To address the issues of low production and debugging efficiency and the lack of effective monitoring methods for flapping-wing aircraft, a digital twin interaction system for flapping-wing aircraft was researched and designed. First, the five-dimensional model architecture of the digital twin interaction system was analyzed, based on which the virtual simulation system, monitoring system, and control system were designed. The virtual simulation system constructed a twin model of the physical entity on the Webots simulation platform and carried out simulation of flight attitudes and flight maneuvers, thereby improving on-site debugging efficiency. The monitoring and control systems enabled real-time bidirectional colsed-loop data interaction between the twin model and the physical entity through the upper computer control system, achieving visual monitoring of the flapping-wing aircraft during flight. Finally, the effectiveness and feasibility of the digital twin interaction system were verified through attitude visualization tests and flight tests. This digital twin interaction system provides a new approach to further enhancing the functions of digital twin systems for flapping-wing aircraft.

Key words: digital twin, flapping-wing aircraft, virtual-to-real mapping, Webots platform, virtual debugging