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Rotational accelerations stabilize leading edge vortices on revolving fly wings
The aerodynamic performance of hovering insects is largely explained by the presence of a stably attached leading edge vortex (LEV) on top of their wings. Although LEVs have been visualized on real, physically modeled, and simulated insects, the physical mechanisms responsible for their stability are poorly understood. To gain fundamental insight into LEV stability on flapping fly wings we expressed the NavierโStokes equations in a rotating frame of reference attached to the wing's surface. Using these equations we show that LEV dynamics on flapping wings are governed by three terms: angular, centripetal and Coriolis acceleration. Our analysis for hovering conditions shows that angular acceleration is proportional to the inverse of dimensionless stroke amplitude, whereas Coriolis and centripetal acceleration are proportional to the inverse of the Rossby number. Using a dynamically scaled robot model of a flapping fruit fly wing to systematically vary these dimensionless numbers, we determined which of the three accelerations mediate LEV stability. Our force measurements and flow visualizations indicate that the LEV is stabilized by the `quasi-steady' centripetal and Coriolis accelerations that are present at low Rossby number and result from the propeller-like sweep of the wing. In contrast, the unsteady angular acceleration that results from the back and forth motion of a flapping wing does not appear to play a role in the stable attachment of the LEV. Angular acceleration is, however, critical for LEV integrity as we found it can mediate LEV spiral bursting, a high Reynolds number effect. Our analysis and experiments further suggest that the mechanism responsible for LEV stability is not dependent on Reynolds number, at least over the range most relevant for insect flight (100<Re<14,000). LEVs are stable and continue to augment force even when they burst. These and similar findings for propellers and wind turbines at much higher Reynolds numbers suggest that even large flying animals could potentially exploit LEV-based force augmentation during slow hovering flight, take-offs or landing. We calculated the Rossby number from single-wing aspect ratios of over 300 insects, birds, bats, autorotating seeds, and pectoral fins of fish. We found that, on average, wings and fins have a Rossby number close to that of flies (Ro=3). Theoretically, many of these animals should therefore be able to generate a stable LEV, a prediction that is supported by recent findings for several insects, one bat, one bird and one fish. This suggests that force augmentation through stably attached (leading edge) vortices could represent a convergent solution for the generation of high fluid forces over a quite large range in size
Can scalable design of wings for flapping wing micro air vehicle be inspired by natural flyers?
Lift production is constantly a great challenge for flapping wing micro air vehicles (MAVs). Designing a workable wing, therefore, plays an essential role. Dimensional analysis is an effective and valuable tool in studying the biomechanics of flyers. In this paper, geometric similarity study is firstly presented. Then, the pwโAR ratio is defined and employed in wing performance estimation before the lumped parameter is induced and utilized in wing design. Comprehensive scaling laws on relation of wing performances for natural flyers are next investigated and developed via statistical analysis before being utilized to examine the wing design. Through geometric similarity study and statistical analysis, the results show that the aspect ratio and lumped parameter are independent on mass, and the lumped parameter is inversely proportional to the aspect ratio. The lumped parameters and aspect ratio of flapping wing MAVs correspond to the range of wing performances of natural flyers. Also, the wing performances of existing flapping wing MAVs are examined and follow the scaling laws. Last, the manufactured wings of the flapping wing MAVs are summarized. Our results will, therefore, provide a simple but powerful guideline for biologists and engineers who study the morphology of natural flyers and design flapping wing MAVs
๊ผฌ๋ฆฌ๋ ๊ฐ ์๋ ๋ ๊ฐฏ์ง ์ด์ํ ๋นํ์ฒด์ ์์ธ์กฐ์
ํ์๋
ผ๋ฌธ (๋ฐ์ฌ) -- ์์ธ๋ํ๊ต ๋ํ์ : ๊ณต๊ณผ๋ํ ๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถ, 2020. 8. ๊นํ์ง.์ต๊ทผ ์์ฒด๋ชจ๋ฐฉ์ ๋ํ ๊ด์ฌ์ด ์ปค์ง๋ฉด์ ์๋ช
์ฒด์ ๊ตฌ์กฐ, ์ธํ, ์์ง์, ํ๋์ ๋ถ์ํ์ฌ ๊ทธ๋ค์ ์ฅ์ ์ ๋ก๋ด์ ์ ์ฉ์์ผ ๊ธฐ์กด์ ๋ก๋ด์ด ํด๊ฒฐํ ์ ์๊ฑฐ๋ ํน๋ณํ ์๋ฌด๋ฅผ ์ข ๋ ํจ๊ณผ, ํจ์จ์ ์ผ๋ก ํด๊ฒฐํ๋ ค๋ ์๋๊ฐ ๋์ด๋๊ณ ์๋ค. ์ด๋ฌํ ์๋๋ ๋ฌด์ธ๋นํ์ฒด ๊ฐ๋ฐ์๋ ์ ์ฉ๋๊ณ ์์ผ๋ฉฐ ๋ ๊ฐฏ์ง ๋นํ์ฒด๊ฐ ์ด์ ํด๋น๋๋ค. ๋ ๊ฐ์ง ๋นํ์ฒด๋ ๋ ๊ฐ์ ๋ฐ๋ณต์ด๋์ ํตํด ๋ฐ์ํ๋ ํ์ ํตํด ๋นํํ๋ ๋นํ์ฒด๋ก ์ผ๋ฐ์ ์ผ๋ก ๊ผฌ๋ฆฌ๋ ๊ฐ์ ์ ๋ฌด์ ๋ฐ๋ผ ์๋ฅผ ๋ชจ๋ฐฉํ ๋นํ์ฒด(๋ฏธ์ตํ ๋นํ์ฒด)์ ๊ณค์ถฉ์ ๋ชจ๋ฐฉํ ๋นํ์ฒด(๋ฌด๋ฏธ์ตํ ๋นํ์ฒด)๋ก ๊ตฌ๋ถํ ์ ์๋ค. ๋ฌด๋ฏธ์ตํ ๋นํ์ฒด์ ๊ฒฝ์ฐ ์ ์๋ฆฌ ๋นํ์ ํ ์ ์๊ณ , ํฌ๊ธฐ๊ฐ ์๊ณ ๋ฌด๊ฒ๊ฐ ๊ฐ๋ฒผ์ ๊ณต๊ธฐ์ ํญ๋ ์ค์ผ ์ ์์ผ๋ฉฐ, ๋ ๋ ตํ ๋นํ์ด ๊ฐ๋ฅํ๋ค๋ ์ฅ์ ์ด ์์ง๋ง, ์๋ ์์ ์ฑ์ ํ๋ณดํ๊ธฐ ์ํ ์ ์ด๋ฉด์ด ์ถฉ๋ถํ์ง ์๊ณ ์ถ๋ ฅ ์์ฑ๊ณผ ๋์์ 3์ถ์ผ๋ก์ ์ ์ด ๋ชจ๋ฉํธ๋ฅผ ๋ง๋ค ์ ์๋ ๋ณต์กํ ๋งค์ปค๋์ฆ์ ๊ฐ์ง๊ณ ์๋ค๋ ํน์ง์ ๊ฐ์ง๊ณ ์๋ค.
๋ณธ ๋
ผ๋ฌธ์์๋ ์ ์์ ๋ฏธ์ตํ ๋นํ์ฒด์ ์ฐ๊ตฌ๊ฐ๋ฐ ์ฌ๋ก๋ฅผ ํ ๋๋ก ์์จ ๋นํ์ ํ ์ ์๋ ๋ฌด๋ฏธ์ตํ ๋นํ์ฒด๋ฅผ ๊ฐ๋ฐํ๊ธฐ ์ํ ์์๊ธฐ์ ๋ค๊ณผ ์ด๊ธฐ ๋นํ์ฒด ๊ฐ๋ฐ์ ๋ชฉํ๋ก ํ๋ค. ํด๋น ๋ชฉํ๋ฅผ ๋ฌ์ฑํ๊ธฐ ์ํด ์ ์๋ ์์ค์์ ํ๋งค๋๊ณ ์๋ RC์ฅ๋๊ฐ์ ํ์ฉํด 30 gram ์ดํ์ ๋ฌด๊ฒ๋ฅผ ๊ฐ์ง๊ณ 30cm3 ์ด๋ด์ ํฌ๊ธฐ๋ฅผ ๊ฐ์ง๋ ๋ฌด๋ฏธ์ตํ ๋ ๊ฐฏ์ง ๋นํ์ฒด๋ฅผ ๊ฐ๋ฐ์ ์งํํ์๋ค. ๋นํ์ฒด ๋ด๋ถ์๋ ๊ตฌ๋๊ธฐ๋ก DC ๋ชจํฐ์ ์๋ณด๋ชจํฐ๊ฐ ์กด์ฌํ๋ฉฐ, DC ๋ชจํฐ๋ ๋ ๊ฐฏ์ง์ ์ผ์ผํค๋ ๊ธฐ์ด ๋ฐ์ค๋ฅผ ์๋์์ผ ๋นํ์ฒด์ ๋ฌด๊ฒ๋ฅผ ์งํฑํ๊ธฐ ์ํ thrust๋ฅผ ์์ฑํ๋ฉฐ roll์ถ ๋ฐฉํฅ์ผ๋ก์ moment ์์ฑ์ ๊ด์ฌํ๋ฉฐ, ์๋ณด๋ชจํฐ๋ ๋ ๊ฐฏ์ง์์ ๋ฐ์ํ๋ ์ข์ฐ thrust์ ๋ฐฉํฅ์ ์กฐ์ ํ์ฌ pitch ์ yaw ์ถ์ผ๋ก์ ๋ชจ๋ฉํธ๋ฅผ ์์ฑํ๋๋ฐ ์ฌ์ฉ๋๋ค. ๋นํ์ฒด ๋ด๋ถ์๋ ์๋์ด๋
ธ ๋ณด๋ ๊ธฐ๋ฐ์ ๋ง์ดํฌ๋กํ๋ก์ธ์๊ฐ ํ์ฌ๋์ด ์์ด ๋นํ์ฒด๋ฅผ ์ ์ดํ๊ธฐ ์ํ ์ ํธ๋ฅผ ์์ฑํ ์ ์์ผ๋ฉฐ ๋ธ๋ฃจํฌ์ค ํต์ ๋ชจ๋์ ๊ฐ์ง๊ณ ์๊ธฐ ๋๋ฌธ์ ์ธ๋ถ์ ํต์ ์ญ์ ๊ฐ๋ฅํ๋ค.
๋นํ์ฒด์ ์์ธ๋ฅผ ์ ์ดํ๊ธฐ ์ํด์๋ ๊ตฌ๋๊ธฐ์ ์ํธ์์ฉ์ผ๋ก ์ธํด ๋ฐ์ํ๋ ํ์ ๋ฌผ๋ฆฌ๋์ ํ์
ํ๋ ๊ฒ์ด ์ค์ํ๋ค. ์ด๋ฅผ ์ํด ๋ ๊ฐฏ์ง ๋ฉ์ปค๋์ฆ์์ ๋ฐ์ํ๋ ํ์ ์ธก์ ํ๋ ์คํ์ ์ํํ์๋ค. ์ธก์ ์คํ์ ํตํด DC๋ชจํฐ ์
๋ ฅ ๋๋น thrust ํฌ๊ธฐ, ์๋ณด๋ชจํฐ command ์
๋ ฅ ๋๋น moment ํฌ๊ธฐ ๋ฑ์ ๊ด๊ณ๋ฅผ ํ์
ํ์๋ค. ๋ํ ๋ ๊ฐฏ์ง ๋นํ์ฒด๋ฅผ ๊ณต์ค์ ๋์ธ ์ ์๋ ์ถฉ๋ถํ ํฌ๊ธฐ์ thrust๋ฅผ ๋ฐ์ํ๋ ๊ฒ์ ํ์ธํ์์ผ๋ฉฐ ์์ธ ์ ์ด๋ฅผ ์ํ ๋ชจ๋ฉํธ ์์ฑ ์ญ์ ๊ฐ๋ฅํ๋ค๋ ๊ฒ์ ํ์ธํ์๋ค.
๋นํ์ฒด์ ์์ธ๋ฅผ ์ ์ดํ๊ธฐ ์ํด์๋ 3์ถ ๋ฐฉํฅ์ผ๋ก์ ์ด๋๋ฐฉ์ ์์ ์ ๋ํ๋ ๊ฒ์ด ํ์ํ๋ค. ์ด๋ฅผ ์ํด roll, pitch, yaw ์ถ ๋ฐฉํฅ์ผ๋ก ๋นํ์ฒด์์ ๋ฐ์ํ๋ ํ๊ณผ ํ์ ์ด๋๊ณผ ๊ด๋ จํ ์ด๋๋ฐฉ์ ์์ ์ ๋ํ์ผ๋ฉฐ ์ด๋ฅผ ํตํด ๋นํ์ฒด์ ์์ธ๋ฅผ ์์ ํ์ํฌ ์ ์๋๋ก ํ๋ PID ์ ์ด๊ธฐ ํํ์ ์ ์ด๊ธฐ๋ฅผ ์ค๊ณํ์๋ค. ๋ฟ๋ง ์๋๋ผ, ๋นํ์ฒด์ ๊ถค์ ์ถ์ข
์ ์ด๋ฅผ ์ํด ๋ด๋ถ์ ์์ธ ์ ์ด๊ธฐ์ ๋นํ์ฒด์ ์์น๋ฅผ ํ ๋๋ก ๊ณ์ฐ๋๋ ์ถ๊ฐ์ ์ธ ์ธ๋ถ ์ ์ด๊ธฐ๋ฅผ ์ค๊ณํ์ฌ ์ด์ค๋ฃจํ ์ ์ด๊ธฐ ํํ๋ฅผ ์ ์ฉ์์ผ ์๋ฎฌ๋ ์ด์
์ ํตํด ๋นํ์ฒด์ ์์ธ ์ ์ด์ ๊ถค์ ์ถ์ข
์ ์ด๊ฐ ์ด๋ฃจ์ด์ง์ ํ์ธํ์๋ค.
๊ฐ๋ฐํ ๋นํ์ฒด์ ์์ ์ค๊ณํ ์ ์ด๊ธฐ๊ฐ ์ฌ์ฉ์์ ์๋์ ๋ง๋ ์ฑ๋ฅ์ ๋ด๋์ง ํ์ธํ๊ธฐ ์ํด ์์ด๋ก ์คํ์ฅ์น๋ฅผ ์ ์ํ์ฌ ์์ธ ์ ์ด ์คํ์ ์ํํ์๋ค. ํด๋น ์คํ์ฅ์น๋ roll, pitch, yaw ์ถ์ผ๋ก ํ์ ์ด ๊ฐ๋ฅํ๋๋ก ์ ์ํ์์ผ๋ฉฐ ์คํ์ฅ์น ์์ฒด์ ๋ฌด๊ฒ๋ฅผ ์ค์ด๊ธฐ ์ํด MDF ์์ฌ๋ฅผ ์ฌ์ฉํ์ฌ ๊ตฌ์กฐ๋ฌผ๋ฅผ ๋ง๋ค์๋ค. roll, pitch, yaw 3์ถ์ด ๊ฐ๊ฐ ๋
๋ฆฝ์ ์ผ๋ก ์ ์ดํ๋ ๊ฒ๊ณผ 3์ถ์ ๋์์ ์ ์ดํ๋ 2๊ฐ์ง ์ํฉ์ ๊ณ ๋ คํ์์ผ๋ฉฐ ์์ ์ค๊ณํ ์ ์ด๊ธฐ๊ฐ ํด๋น ์คํ ์ฅ์น ๋ด๋ถ์์ ์ฌ์ฉ์์ ์๋์ ๋ง๊ฒ ์ ์ด ์ฑ๋ฅ์ ๋ณด์ด๋์ง ํ์ธํ ์ ์์๋ค.
๊ถค์ ์ถ์ข
์ ์ด๋ฅผ ์ํด์๋ 2๊ฐ์ง ๋นํ ์ํฉ์ ์ค์ ํ์๋ค. ์ฒซ ๋ฒ์งธ ๊ฒฝ์ฐ, ์ฒ์ฅ๊ณผ ๋นํ์ฒด ์๋จ๋ถ์ ์ค์ ์ฐ๊ฒฐํ์ฌ 2D ํ๋ฉด์์์ ๋นํ์ฒด๊ฐ ์ฃผ์์ง ๊ถค์ ์ ๋ฐ๋ผ ์์ง์ด๋์ง, ๋ ๋ฒ์งธ ๊ฒฝ์ฐ, ๋นํ์ฒด ์๋จ๋ถ์ ํฌ๋ฅจ์ด ์ฃผ์
๋ ํ์ ์ ์ฐ๊ฒฐ์์ผ 3D ๊ณต๊ฐ์์์ ์ฃผ์์ง ๊ถค์ ์ ๋ฐ๋ผ ์ถ์ข
๋นํํ๋์ง๋ฅผ ํ์ธํ ์ ์๋ ์ํฉ์ด๋ค. ๋ ๊ฐ์ง ์ํฉ์์ ๋ชจ๋ ๋ค์ํ ํํ์ ๊ถค์ ์ ๋นํ์ฒด๊ฐ ์ ์ถ์ข
ํ๋์ง๋ฅผ ํ์ธํ ์ ์์๋ค. ๋์ผ๋ก, ์ธ๋ถ ์ฅ์น(์ค, ํ์ )๋ฅผ ์ ๊ฑฐํ์ฌ ๊ณต์ค์์ ๋นํ์ฒด๊ฐ ์ ์๋ฆฌ ๋นํ์ ํ ์ ์๋์ง๋ฅผ ๊ฒ์ฆํ๋ ์คํ์ ์งํํ์์ผ๋ฉฐ, 15์ด๊ฐ๋ 1m3 ๊ณต๊ฐ ๋ด์์ ์ ์๋ฆฌ ๋นํ์ด ์ด๋ฃจ์ด์ง๋ ๊ฒ์ ํ์ธํ์๋ค.Flapping wing micro air vehicles (FWMAVs) that generate thrust and lift by flapping their wings are regarded as promising flight vehicles because of their advantages in terms of similar appearance and maneuverability to natural creatures. Reducing weight and air resistance, insect-inspired tailless FWMAVs are an attractive aerial vehicle rather than bird-inspired FWMAVs. However, they are challenging platforms to achieve autonomous flight because they have insufficient control surfaces to secure passive stability and a complicated wing mechanism for generating three-axis control moments simultaneously. In this thesis, as preliminary autonomous flight research, I present the study of an attitude regulation and trajectory tracking control of a tailless FWMAV developed.
For these tasks, I develop my platform, which includes two DC motors for generating thrust to support its weight and servo motors for generating three-axis control moments to regulate its flight attitude. First, I conduct the force and moment measurement experiment to confirm the magnitude and direction of the lift and moment generated from the wing mechanism. From the measurement test, it is confirmed that the wing mechanism generates enough thrust to float the vehicle and control moments for attitude regulation.
Through the dynamic equations in the three-axis direction of the vehicle, a controller for maintaining a stable attitude of the vehicle can be designed. To this end, a dynamic equation related to the rotational motion in the roll, pitch, and yaw axes is derived. Based on the derived dynamic equations, we design a proportional-integral-differential controller (PID) type controller to compensate for the attitude of the vehicle. Besides, we use a multi-loop control structure (inner-loop: attitude control, outer-loop: position control) to track various trajectories. Simulation results show that the designed controller is effective in regulating the platforms attitude and tracking a trajectory.
To check whether the developed vehicle and the designed controller are operating effectively to regulate its attitude, I design a lightweight gyroscope apparatus using medium-density-fiberboard (MDF) material. The rig is capable of freely rotating in the roll, pitch, and yaw axes. I consider two situations in which each axis is controlled independently, and all axes are controlled simultaneously. In both cases, attitude regulation is properly performed.
Two flight situations are considered for the trajectory tracking experiment. In the first case, a string connects between the ceiling and the top of the platform. In the second case, the helium-filled balloon is connected to the top of the vehicle. In both cases, the platform tracks various types of trajectories well in error by less than 10 cm. Finally, an experiment is conducted to check whether the tailless FWMAV could fly autonomously in place by removing external devices (string, balloon), and the tailless FWMAV flies within 1 m^3 space for about 15 seconds1.Introduction 1
1.1 Background & Motivation 1
1.2 Literature review 3
1.3 Thesis contribution 7
1.4 Thesis outline 8
2.Design of tailless FWMAV 13
2.1 Platform appearance 13
2.2 Flight control system 17
2.3 Principle of actuator mechanism 18
3.Force measurement experiment 28
3.1 Measurement setup 28
3.2 Measurement results 30
4.Dynamics & Controller design 37
4.1 Preliminary 37
4.2 Dynamics & Attitude control 39
4.2.1 Roll direction 41
4.2.2 Pitch direction 43
4.2.3 Yaw direction 45
4.2.4 PID control 47
4.3 Trajectory tracking control 48
5.Attitude regulation experiments 50
5.1 Design of gyroscope testbed 50
5.2 Experimental environment 52
5.3 Roll axis free 53
5.3.1 Simulation 54
5.3.2 Experiment 55
5.4 Pitch axis free 56
5.4.1 Simulation 57
5.4.2 Experiment 58
5.5 Yaw axis free 59
5.5.1 Simulation 59
5.5.2 Experiment 60
5.6 All axes free 60
5.6.1 Simulation 60
5.6.2 Experiment 61
5.7 Design of universal joint testbed & Experiment 64
6.Trajectory tracking 68
6.1 Simulation 68
6.2 Preliminary 69
6.3 Experiment: Tied-to-the-ceiling 70
6.4 Experiment: Hung-to-a-balloon 71
6.5 Summary 72
6.6 Hovering flight 73
7.Conclusion 83
A Appendix: Wing gearbox 85
A.1 4-bar linkage structure 85
B Appendix: Disturbance observer (DOB) 87
B.1 DOB controller 87
B.2 Simulation 89
B.2.1 Step input 89
B.2.2 Sinusoid input 91
B.3 Experiment 92
References 95Docto
Flight Mechanics and Control of Escape Manoeuvres in Hummingbirds. I. Flight Kinematics
Hummingbirds are natureโs masters of aerobatic manoeuvres. Previous research shows that hummingbirds and insects converged evolutionarily upon similar aerodynamic mechanisms and kinematics in hovering. Herein, we use three-dimensional kinematic data to begin to test for similar convergence of kinematics used for escape flight and to explore the effects of body size upon manoeuvring. We studied four hummingbird species in North America including two large species (magnificent hummingbird, Eugenes fulgens, 7.8 g, and blue-throated hummingbird, Lampornis clemenciae, 8.0 g) and two smaller species (broad-billed hummingbird, Cynanthus latirostris, 3.4 g, and black-chinned hummingbirds Archilochus alexandri, 3.1 g). Starting from a steady hover, hummingbirds consistently manoeuvred away from perceived threats using a drastic escape response that featured body pitch and roll rotations coupled with a large linear acceleration. Hummingbirds changed their flapping frequency and wing trajectory in all three degrees of freedom on a stroke-by-stroke basis, likely causing rapid and significant alteration of the magnitude and direction of aerodynamic forces. Thus it appears that the flight control of hummingbirds does not obey the โhelicopter modelโ that is valid for similar escape manoeuvres in fruit flies. Except for broad-billed hummingbirds, the hummingbirds had faster reaction times than those reported for visual feedback control in insects. The two larger hummingbird species performed pitch rotations and global-yaw turns with considerably larger magnitude than the smaller species, but roll rates and cumulative roll angles were similar among the four species
From Rousettus aegyptiacus (bat) Landing to Robotic Landing: Regulation of CG-CP Distance Using a Nonlinear Closed-Loop Feedback
Bats are unique in that they can achieve unrivaled agile maneuvers due to their functionally versatile wing conformations. Among these maneuvers, roosting (landing) has captured attentions because bats perform this acrobatic maneuver with a great composure. This work attempts to reconstruct bat landing maneuvers with a Micro Aerial Vehicle (MAV) called Allice. Allice is capable of adjusting the position of its Center of Gravity (CG) with respect to the Center of Pressure (CP) using a nonlinear closed-loop feedback. This nonlinear control law, which is based on the method of input-output feedback linearization, enables attitude regulations through variations in CG-CP distance. To design the model-based nonlinear controller, the Newton-Euler dynamic model of the robot is considered, in which the aerodynamic coefficients of lift and drag are obtained experimentally. The performance of the proposed control architecture is validated by conducting several experiments
Dynamics of Micro-Air-Vehicle with Flapping Wings
Small (approximately 6 inch long, or hand-held) reconnaissance micro air vehicles (MAVs) will fly inside buildings, and require hover for observation, and agility at low speeds to move in confined spaces. For this flight envelope insect-like flapping wings seem to be an optimal mode of flying. Investigation of the aerodynamics of flapping wing MAVs is very challenging. The problem involves complex unsteady, viscous flow (mainly laminar), with the moving wing generating vortices and interacting with them. At this early stage of research only a preliminary insight into the nature of the little known aerodynamics of MAVs has been obtained. This paper describes computational models for simulation of the controlled motion of a microelectromechanical flying insect โ entomopter. The design of software simulation for entomopter flight (SSEF) is presented. In particular, we will estimate the flight control algorithms and performance for a Micromechanical Flying Insect (MFI), a 80โ100 mm (wingtip-to-wingtip) device capable of sustained autonomous flight. The SSEF is an end-to-end tool composed of several modular blocks which model the wing aerodynamics and dynamics, the body dynamics, and in the future, the environment perception, control algorithms, the actuators dynamics, and the visual and inertial sensors. We present the current state of the art of its implementation, and preliminary results.
Neurobiologically Inspired Control of Engineered Flapping Flight
This article presents a new control approach for engineered
flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically
inspired control systems in the form of Central Pattern Generators (CPG) to generate wing trajectories for potential flapping flight MAVs. We present a rigorous mathematical and control theoretic framework to design complex three dimensional motions of flapping wings. Most
flapping flight demonstrators are mechanically limited in generating the wing trajectories. Because CPGs lend themselves to more biological examples of flight, a novel
robotic model has been developed to emulate the flight of bats. This model has shoulder and leg joints totaling 10 degrees of freedom for control of wing properties. Results of wind tunnel experiments and numerical simulation of CPG-based flight control validate the effectiveness of the proposed neurobiologically inspired control approach
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