Download or read book Modelling and Control of a Symmetric Flapping Wing Vehicle written by Justin Patrick Jackson and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a method for designing a flapping wing stroke for a flapping wing vehicle. A flapping wing vehicle is a vehicle such as a bird or an insect that uses its wings for propulsion instead of a conventional propeller or a jet engine. The intent of this research is to design a wing stroke that the wings can follow which will maintain the vehicle at a desired longitudinal flight path angle and velocity. The cost function is primarily a function of the flight path angle error, velocity error and control rate. The objective maneuver is to achieve a flight condition similar to the trim of a conventional fixed wing aircraft. Gliding configurations of the vehicle are analyzed to better understand flight in minimal energy configurations as well as the modes of the vehicle. A control law is also designed using Lyapunov0́9s direct method that achieves stable tracking of the wing stroke. Results are presented that demonstrate the ability of the method to design wing strokes that can maintain the vehicle at various flight path angles and velocities. The results of this research show that an optimal control problem can be posed such that the solution of the problem results in a wing stroke that a flapping wing vehicle can use to achieve a desired maneuver. The vehicle velocity is shown to be stable in controlled gliding flight and flapping flight.

Download or read book Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition written by Zhuo Yan and published by . This book was released on 2016 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Comprehensive Modeling and Control of Flexible Flapping Wing Micro Air Vehicles written by Stephen Michael Nogar and published by . This book was released on 2015 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Flapping Wing Vehicles written by Lung-Jieh Yang and published by CRC Press. This book was released on 2021-09-30 with total page 427 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flapping wing vehicles (FWVs) have unique flight characteristics and the successful flight of such a vehicle depends upon efficient design of the flapping mechanisms while keeping the minimum weight of the structure. Flapping Wing Vehicles: Numerical and Experimental Approach discusses design and kinematic analysis of various flapping wing mechanisms, measurement of flap angle/flapping frequency, and computational fluid dynamic analysis of motion characteristics including manufacturing techniques. The book also includes wind tunnel experiments, high-speed photographic analysis of aerodynamic performance, soap film visualization of 3D down washing, studies on the effect of wing rotation, figure-of-eight motion characteristics, and more. Features Covers all aspects of FWVs needed to design one and understand how and why it flies Explains related engineering practices including flapping mechanism design, kinematic analysis, materials, manufacturing, and aerodynamic performance measures using wind tunnel experiments Includes CFD analysis of 3D wing profile, formation flight of FWVs, and soap film visualization of flapping wings Discusses dynamics and image-based control of a group of ornithopters Explores indigenous PCB design for achieving altitude and attitude control This book is aimed at researchers and graduate students in mechatronics, materials, aerodynamics, robotics, biomimetics, vehicle design and MAV/UAV.

Download or read book Modeling and Control of a Flapping Wing Micro Air Vehicle written by Pratik N. Vernekar and published by . This book was released on 2012 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Modelling and Controlling a Bio inspired Flapping wing Micro Aerial Vehicle written by David Everett Smith and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this research is to verify the three degree of freedom capabilities of a bio-inspired quad flapping-wing micro aerial vehicle in simulation and in hardware. The simulation employs a nonlinear plant model and input-output feedback linearization controller to verify the three degree of freedom capabilities of the vehicle. The hardware is a carbon fiber test bench with four flapping wings and an embedded avionics system which is controlled via a PD linear controller. Verification of the three degree of freedom capabilities of the quad flapping-wing concept is achieved by analyzing the response of both the simulation and test bench to pitch, roll, and yaw attitude commands.

Download or read book Modern Flexible Multi Body Dynamics Modeling Methodology for Flapping Wing Vehicles written by Cornelia Altenbuchner and published by Academic Press. This book was released on 2017-09-15 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Download or read book A Study on the Control Dynamics and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles written by Siara Hunt and published by . This book was released on 2017 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biological flight encapsulates 400 million years of evolutionary ingenuity and thus is the most efficient way to fly. If an engineering pursuit is not adhering to biomimetic inspiration, then it is probably not the most efficient design. An aircraft that is inspired by bird or other biological modes of flight is called an ornithopter and is the original design of the first airplanes. Flapping wings hold much engineering promise with the potential to produce lift and thrust simultaneously. In this research, modeling and simulation of a flapping wing vehicle is generated. The purpose of this research is to develop a control algorithm for a model describing flapping wing robotics. The modeling approach consists of initially considering the simplest possible model and subsequently building models of increasing complexity. This research finds that a proportional derivative feedback and feedforward controller applied to a nonlinear model is the most practical controller for a flapping system. Due to the complex aerodynamics of ornithopter flight, modeling and control are very difficult. Overall, this project aims to analyze and simulate different forms of biological flapping flight and robotic ornithopters, investigate different control methods, and also acquire understanding of the hardware of a flapping wing aerial vehicle.

Download or read book The DelFly written by G.C.H.E. de Croon and published by Springer. This book was released on 2015-11-26 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Modeling and Nonlinear Control of Highly Maneuverable Bio inspired Flapping wing Micro Air Vehicles written by Mubarak Alkitbi and published by . This book was released on 2015 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the past decade, the promise of achieving the level of maneuverability exhibited in insect flight has prompted the research community to develop bio-inspired flapping-wing micro air vehicles (FW-MAVs) . Flying insects employ their wings to produce lift to perform complex maneuvers. Mimicking insect capabilities could enable FW-MAVs to perform missions in tight spaces and cluttered environments, otherwise unattainable by fixed- or rotary-wing UAVs. The inherent mechanism of flapping-wing flight requires periodically-varying actuation, requiring the use of averaging methods for analysis and design of controllers for flapping-wing MAVs. The main objective of this research is establishing a rigorous theoretical framework from a control theory point of view that combines averaging theory and robust nonlinear control theory towards the design of flight controllers for general models of FW-MAVs. The point of departure of this work is the adoption of Kane's method to obtain equations of motion for multi-actuated, multi-body flapping-wing MAVs. The first contribution of the present work is the formulation of a framework which investigates the effect of multiple actuation, including the presence of a movable appendage (abdomen), on vehicle controllability. The resulting formulation establishes a mathematically precise framework which lays the groundwork for the development of theoretically sound control design strategies.

Download or read book Fixed and Flapping Wing Aerodynamics for Micro Air Vehicle Applications written by Thomas J. Mueller and published by AIAA. This book was released on 2001 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt: This title reports on the latest research in the area of aerodynamic efficency of various fixed-wing, flapping wing, and rotary wing concepts. It presents the progress made by over fifty active researchers in the field.

Download or read book An Introduction to Flapping Wing Aerodynamics written by Wei Shyy and published by Cambridge University Press. This book was released on 2013-08-19 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is an ideal book for graduate students and researchers interested in the aerodynamics, structural dynamics and flight dynamics of small birds, bats and insects, as well as of micro air vehicles (MAVs), which present some of the richest problems intersecting science and engineering. The agility and spectacular flight performance of natural flyers, thanks to their flexible, deformable wing structures, as well as to outstanding wing, tail and body coordination, is particularly significant. To design and build MAVs with performance comparable to natural flyers, it is essential that natural flyers' combined flexible structural dynamics and aerodynamics are adequately understood. The primary focus of this book is to address the recent developments in flapping wing aerodynamics. This book extends the work presented in Aerodynamics of Low Reynolds Number Flyers (Shyy et al. 2008).

Download or read book Dynamic Modeling of Insect Flight Mechanisms written by Mark Jankauski and published by . This book was released on 2017 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: A dynamic model of an insect wing is developed treating the wing as a deformable body subject to three-dimensional finite rotation about a fixed point at the base of the wing. Discretization of a stationary wing is conducted via finite element analysis to determine the natural frequencies and mode shapes. By formulating and discretizing the kinetic and potential energy, the equation of motion governing the modal response of a flapping wing is derived using Lagrange's equation. The equation of motion indicates Coriolis, Euler, and centrifugal forces resulting from the finite rotation are responsible for the wing's elastic deformation. Numerical integration reveals a beat phenomenon that arises from the Coriolis excitation in the first vibration mode. The beat phenomenon is insensitive to yaw amplitudes and non-zero initial conditions but diminishes in the presence of damping. The beat phenomenon can potentially be used to estimate gyroscopic forces. Then, a two-axis rotation stage was constructed to replicate the large amplitude rotations of an insect wing and verify the inertial-elastic wing model. A wing was constructed with a strain gage mounted near the root to measure temporal strain. Single-axis rotations were considered, and multi-axis rotations were investigated to exploit phenomena related to geometric coupling. Experiments were conducted in air and vacuum to decouple aerodynamic and inertial-elastic forces. Aerodynamic forces constituted maximally 15% of the strain, suggesting the inertial-elastic model is appropriate in certain contexts. Inertial forces were dominant in the pitch-roll and roll-yaw configuration, whereas gyroscopic forces were dominant in the pitch-yaw configuration. Theoretic predictions match experimental results fairly well. The inertial-elastic rotating model may be used to inform flapping wing micro aerial vehicle designers moving forward, particularly in the design of strain-based control systems. Next, the relative role of aerodynamic and inertial moments on insect steering is investigated. Maneuvering in both natural and artificial miniature flying systems is assumed to be dominated by aerodynamic phenomena. To explore this, I develop a flapping wing model integrating aero and inertial dynamics. The model is applied to a semi-elliptical wing modeled after the forewing of the Hawkmoth and realistic kinematics are prescribed. Stroke deviation phase is critically explored, as it relates to firing latency in insect steering muscles which has been correlated to various aerial maneuvers. Average resultant force production acting on the body predominately arises from wing pitch and roll and is insensitive to the phase and amplitude of stroke deviation. Inclusion of stroke deviation can generate significant averaged aerodynamic torques at steady-state and adjustment of its phase facilitates body attitude control. These claims are supported by biological evidence, where unilateral or symmetric actuation of steering muscles caused body pitching or banked turns in flying insects. Moreover, wing angular momentum varies with stroke deviation phase, implying a non-zero impulse during a time-dependent phase shift. Simulations show wing inertial and aerodynamic impulses are of similar magnitude during short transients whereas aerodynamic impulses dominate during longer transients. Additionally, inertial effects become less significant for smaller flying insects. Body yaw rates arising from these impulses are consistent with biologically measured values. Thus, I conclude (1) modest changes in stroke deviation can significantly affect steering and (2) both aerodynamic and inertial torques are critical to maneuverability, the latter of which has not widely been considered. Therefore, the addition of a control actuator modulating stroke deviation may decouple lift/thrust production from steering mechanisms and provide inertial shaping benefits in flapping wing micro aerial vehicles. Lastly, the effect of wing structural compliance on power expenditures in insect flight is characterized. I use the previously derived elastic structural wing model and rigid blade-element aerodynamic model. Inertial instantaneous power is derived by differentiating the sum of the kinetic and potential energy with respect to time. Aerodynamic instantaneous power is calculated by the dot product of the prescribed angular velocity vector with the determined aerodynamic moments. A simple case of a wing undergoing a single, small-amplitude rotation in vacuum is first considered. For this case, a large portion of the rigid power is abated by elastic power, thereby significantly reducing overall energetic requirements. The model is subsequently applied to a more realistic case of a wing undergoing three-dimensional rotation in air. An optimization routine determines optimal wing kinematics and fundamental frequency such that root-mean-square power is minimized and sufficient lift for hover is produced. The optimizer accurately predicts roll and stroke deviation amplitude compared to biologically measured values of the Hawkmoth. The optimized pitch amplitude was approximately 20 degrees different from measured values; this discrepancy was attributed to the torsional flexibility of the wing, unaccounted for in the rigid aerodynamic model. Using the optimized parameters, our simulation suggests an elastic wing requires approximately 25% less power compared with a completely rigid wing. This suggests micro aerial vehicle wings have an power-minimizing optimal natural frequency, which can be readily tuned through conciseness wing design.

Download or read book CFD Based Aerodynamic Modeling to Study Flight Dynamics of a Flapping Wing Micro Air Vehicle written by Alok Ashok Rege and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The demand for small unmanned air vehicles, commonly termed micro air ve- hicles or MAV's, is rapidly increasing. Driven by applications ranging from civil search-and-rescue missions to military surveillance missions, there is a rising level of interest and investment in better vehicle designs, and miniaturized components are enabling many rapid advances. The need to better understand fundamental aspects of ight for small vehicles has spawned a surge in high quality research in the area of micro air vehicles. These aircraft have a set of constraints which are, in many ways, considerably di erent from that of traditional aircraft and are often best addressed by a multidisciplinary approach. Fast-response non-linear controls, nano-structures, in- tegrated propulsion and lift mechanisms, highly exible structures, and low Reynolds aerodynamics are just a few of the important considerations which may be combined in the execution of MAV research. The main objective of this thesis is to derive a consistent nonlinear dynamic model to study the ight dynamics of micro air vehicles with a reasonably accurate representation of aerodynamic forces and moments. The research is divided into two sections. In the rst section, derivation of the nonlinear dynamics of apping wing micro air vehicles is presented. The apping wing micro air vehicle (MAV) used in this research is modeled as a system of three rigid bodies: a body and two wings. The design is based on an insect called Drosophila Melanogaster, commonly known as fruit- y. The mass and inertial e ects of the wing on the body are neglected for the present work. The nonlinear dynamics is simulated with the aerodynamic data published in the open literature. The apping frequency is used as the control input. Simulations are run for di erent cases of wing positions and the chosen parameters are studied for boundedness. Results show a qualitative inconsistency in boundedness for some cases, and demand a better aerodynamic data. The second part of research involves preliminary work required to generate new aerodynamic data for the nonlinear model. First, a computational mesh is created over a 2-D wing section of the MAV model. A nite volume based computational ow solver is used to test di erent apping trajectories of the wing section. Finally, a parametric study of the results obtained from the tests is performed.

Download or read book An Introduction to Flapping Wing Aerodynamics written by Wei Shyy and published by Cambridge University Press. This book was released on 2013-08-19 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: For anyone interested in the aerodynamics, structural dynamics and flight dynamics of small birds, bats, insects and air vehicles (MAVs).

Download or read book Attitude and Position Control of Flapping wing Micro Aerial Vehicles written by Ning Che and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Compared with the fixed-wing and rotor aircraft, the flapping-wing micro aerial vehicle is of great interest to many communities because of its high efficiency and flexible maneuverability. However, issues such as the small size of the vehicles, complex dynamics and complicated systems due to uncertainty, nonlinearity, and multi-coupled parameters cause several significant challenges in construction and control. In this thesis, based on Euler angle and unit quaternion representations, the backstepping technique is used to design attitude stabilization controllers and position tracking controllers for a good control performance of a flapping-wing micro aerial vehicle. The attitude control of a apping{wing micro aerial vehicle is achieved by controlling the aerodynamic forces and torques, which are highly nonlinear and time{varying. To control such a complex system, a dynamic model is derived by using the Newton{Euler method. Based on the mathematical model, the backstepping technique is applied with the Lyapunov stability theory for the controller design. Moreover, because a flapping-wing micro aerial vehicle has very exible wings and oscillatory flight characteristics, the adaptive fuzzy control law as well as H1 control strategy are also used to estimate the unknown parameters and attenuate the impact of external disturbances. What is more, due to the problem of the gimbal lock of Euler angles, the unit quaternion representation is used afterwards. As for position control, the forward movement is controlled by the thrust and lift force generated by the wings of flapping-wing micro aerial vehicles. To make the actual position and velocity follow the desired trajectory and velocity, the backstepping scheme is used based on a unit quaternion representation. In order to reduce the complexity of differentiation of the virtual control in the design process, a dynamic surface control method is then used by the idea of a low-pass filter. Matlab simulation results prove the mathematical feasibility and also illustrate that all the proposed controllers have a stable control performance.

Download or read book Development and Testing of Computational Models of a Flapping Wing and a High Altitude Long Endurance Aircraft for High fidelity Nonlinear Multidisciplinary Simulations written by Meir Messingher Lang and published by Stanford University. This book was released on 2011 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the present thesis numerical aeroelastic models are developed for a Flapping Wing System and a High Altitude Long Endurance Aircraft. Fluid and structural models are created separately. Conception and development of highly complex and detailed models for both systems are explained. Common to both models is the characteristic large displacements of their structural dynamic behavior. This raises the need for nonlinear considerations on the structural solver. For the fluid solver the Arbitrary Lagrangian Eulerian formulation revealed to be not appropriate due to the lack of robustness under large deformations of the mesh. Hence, an Eulerian framework is used which showed to be successful in simulating the aeroelastic response of the systems. Numerical tests conducted separately on the fluid and structural models of each system are presented. These are done to study their character and check if their behavior seems physical since no corresponding experimental data is available. After successful tests, an aeroelastic simulation is performed for both systems, demonstrating the readability of the models for fluid-structure interaction analyses. Since the considered models tend to be large-scale, they require massive computational effort to be solved. Finally, a study on Reduced Order Modeling of an aeroelastic problem is performed; this as an attempt to find a way of reducing the resources required to analyze the contemplated systems.