Comprehensive Modeling and Control of Flexible Flapping Wing Micro Air Vehicles
Title | Comprehensive Modeling and Control of Flexible Flapping Wing Micro Air Vehicles PDF eBook |
Author | Stephen Michael Nogar |
Publisher | |
Pages | 197 |
Release | 2015 |
Genre | |
ISBN |
This work highlights the importance of coupled dynamics in the design and control of flapping wing micro air vehicles. Future enhancements to this work should focus on the reduced order structural and aerodynamics models. Applications include using the developed dynamics model to evaluate other kinematics and control schemes, ultimately enabling improved vehicle and control design.
Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles
Title | Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles PDF eBook |
Author | Cornelia Altenbuchner |
Publisher | Academic Press |
Pages | 200 |
Release | 2017-09-15 |
Genre | Technology & Engineering |
ISBN | 0128141379 |
Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles presents research on the implementation of a flexible multi-body dynamic representation of a flapping wing ornithopter that considers aero-elasticity. This effort brings advances in the understanding of flapping wing flight physics and dynamics that ultimately leads to an improvement in the performance of such flight vehicles, thus reaching their high performance potential. In using this model, it is necessary to reduce body accelerations and forces of an ornithopter vehicle, as well as to improve the aerodynamic performance and enhance flight kinematics and forces which are the design optimization objectives. This book is a useful reference for postgraduates in mechanical engineering and related areas, as well as researchers in the field of multibody dynamics. Uses Lagrange equations of motion in terms of a generalized coordinate vector of the rigid and flexible bodies in order to model the flexible multi-body system Provides flight verification data and flight physics of highly flexible ornithoptic vehicles Includes an online companion site with files/codes used in application examples
Modeling and Control of a Flapping Wing Micro Air Vehicle
Title | Modeling and Control of a Flapping Wing Micro Air Vehicle PDF eBook |
Author | Pratik N. Vernekar |
Publisher | |
Pages | 94 |
Release | 2012 |
Genre | |
ISBN |
Abstract: In this thesis we propose a new wingbeat control strategy with amplitude modulation and time-rescaling for a six-degree-of-freedom flapping-wing micro air vehicle (MAV) model. Implementation of the amplitude modulation and time-rescaling is discussed, and modifications to the wingbeat forcing function are made to maintain continuity of the wing position. Cycle-averaged forces and moments, and cycle-averaged control derivatives are computed to derive nonlinear and linear control design models (CDMs) of the MAV. The proposed wingbeat control strategy is capable of generating non-zero cycle-averaged x-body and z-body axis forces, and non-zero cycle-averaged rolling, pitching, and yawing moments. A thorough analysis of all possible output candidates is done based on the conditions of vector relative degree and internal dynamics of the linear CDM. Finally for the selected outputs, a controller is designed based on the normal form of the linear CDM. The controller is first tested on the nonlinear CDM, and finally on two higher-fidelity instantaneous blade-element models. One simulation model is based on the actual values of the vehicle parameters, while the other is based on the perturbed values where parametric uncertainties are taken into consideration. Simulation results indicate that the proposed controller is robust to parametric uncertainties and modeling errors introduced by the cycle-averaged control-oriented model.
Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition
Title | Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition PDF eBook |
Author | Zhuo Yan |
Publisher | |
Pages | 85 |
Release | 2016 |
Genre | Electronic dissertations |
ISBN |
In this thesis a mathematical model of a flapping wing MAV is discussed. Aerodynamic forces and moments due to some key unsteady aerodynamic mechanisms are studied to derive the vehicle's longitudinal equations of motion under symmetric flapping assumption. The dynamic model is then simplified and linearized about a hover condition. With the assumption that the frequency of wing flapping motion is much higher than the body's natural frequency of motion, averaging theory is applied to the system. Two types of averaging methods are applied, full cycle averaging and quarter cycle averaging, to obtain a linear time invariant system (LTI) and a jump-style linear time varying (LTV) system respectively. Stability analysis and controller design are based on the linear time invariant system. A linear controller with eigenstructure assignment technique is designed and attached to the nonlinear system to stabilize the vehicle at hover condition under perturbations.
The DelFly
Title | The DelFly PDF eBook |
Author | G.C.H.E. de Croon |
Publisher | Springer |
Pages | 221 |
Release | 2015-11-26 |
Genre | Technology & Engineering |
ISBN | 9401792089 |
This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.
Modeling and Control of Flapping Wing Micro Aerial Vehicles
Title | Modeling and Control of Flapping Wing Micro Aerial Vehicles PDF eBook |
Author | Shiba Biswal |
Publisher | |
Pages | 93 |
Release | 2015 |
Genre | Micro air vehicles |
ISBN |
Interest in Micro Aerial Vehicle (MAV) research has surged over the past decade. MAVs offer new capabilities for intelligence gathering, reconnaissance, site mapping, communications, search and rescue, etc. This thesis discusses key modeling and control aspects of flapping wing MAVs in hover. A three degree of freedom nonlinear model is used to describe the flapping wing vehicle. Averaging theory is used to obtain a nonlinear average model. The equilibrium of this model is then analyzed. A linear model is then obtained to describe the vehicle near hover. LQR is used to as the main control system design methodology. It is used, together with a nonlinear parameter optimization algorithm, to design a family multivariable control system for the MAV. Critical performance trade-offs are illuminated. Properties at both the plant output and input are examined. Very specific rules of thumb are given for control system design. The conservatism of the rules are also discussed. Issues addressed includeWhat should the control system bandwidth be vis--vis the flapping frequency (so that averaging the nonlinear system is valid)?When is first order averaging sufficient? When is higher order averaging necessary? When can wing mass be neglected and when does wing mass become critical to model?This includes how and when the rules given can be tightened; i.e. made less conservative.
Modeling, Optimal Kinematics, and Flight Control of Bio-inspired Flapping Wing Micro Air Vehicles
Title | Modeling, Optimal Kinematics, and Flight Control of Bio-inspired Flapping Wing Micro Air Vehicles PDF eBook |
Author | Zaeem Khan |
Publisher | |
Pages | |
Release | 2009 |
Genre | Airplanes |
ISBN | 9781109386585 |
?Pub Inc Micro air vehicles (MAV) provide an attractive solution for carrying out missions such as searching for survivors inside burning buildings or under collapsed structures, remote sensing of hazardous chemical and radiation leaks and surveillance and reconnaissance. MAVs can be miniature airplanes and helicopters, however, nature has micro air vehicles in the form of insects and hummingbirds, which outperform conventional designs and are therefore, ideal for MAV missions. Hence, there is a need to develop a biomimetic flapping wing micro air vehicle (FWMAV). In this work, theoretical and experimental research is undertaken in order to reverse engineer the complicated design of biological MAVs. Mathematical models of flapping wing kinematics, aerodynamics, thorax musculoskeletal system and flight dynamics were developed and integrated to form a generic model of insect flight. For experimental work, a robotic flapper was developed to mimic insect wing kinematics and aerodynamics. Using a combination of numerical optimization, experiments and theoretical analysis, optimal wing kinematics and thorax dynamics was determined. The analysis shows remarkable features in insect wings which significantly improve aerodynamic performance. Based on this study, tiny flapping mechanisms were developed for FWMAV application. These mechanisms mimic the essential mechanics of the insect thorax. Experimental evaluation of these mechanisms confirmed theoretical findings. The analysis of flight dynamics revealed the true nature of insect flight control which led to the development of controllers for semi-autonomous flight of FWMAV. Overall, this study not only proves the feasibility of biomimetic flapping wing MAV but also proves its advantages over conventional designs. In addition, this work also motivates further research in biological systems.