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Modeling And Control Of A Flapping Wing Micro Air Vehicle
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Book Synopsis Modeling and Control of a Flapping Wing Micro Air Vehicle by : Pratik N. Vernekar
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.
Book Synopsis Comprehensive Modeling and Control of Flexible Flapping Wing Micro Air Vehicles by : Stephen Michael Nogar
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.
Book Synopsis Modeling and Control of a Flapping Wing Micro Air Vehicle at Hover Condition by : Zhuo Yan
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.
Book Synopsis Fixed and Flapping Wing Aerodynamics for Micro Air Vehicle Applications by : Thomas J. Mueller
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.
Book Synopsis Modeling and Control of Flapping Wing Micro Aerial Vehicles by : Shiba Biswal
Download or read book Modeling and Control of Flapping Wing Micro Aerial Vehicles written by Shiba Biswal and published by . This book was released on 2015 with total page 93 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Advances in Robot Kinematics: Analysis and Design by : Jadran Lenarčič
Download or read book Advances in Robot Kinematics: Analysis and Design written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2008-05-29 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
Book Synopsis Aerodynamics of the Airplane by : Hermann Schlichting
Download or read book Aerodynamics of the Airplane written by Hermann Schlichting and published by McGraw-Hill Companies. This book was released on 1979 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Modeling and Nonlinear Control of Highly Maneuverable Bio-inspired Flapping-wing Micro Air Vehicles by : Mubarak Alkitbi
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 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.
Book Synopsis Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles by : Cornelia Altenbuchner
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
Book Synopsis Modeling, Optimal Kinematics, and Flight Control of Bio-inspired Flapping Wing Micro Air Vehicles by : Zaeem Khan
Download or read book Modeling, Optimal Kinematics, and Flight Control of Bio-inspired Flapping Wing Micro Air Vehicles written by Zaeem Khan and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ?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.
Book Synopsis A Study on the Control, Dynamics, and Hardware of Micro Aerial Biomimetic Flapping Wing Vehicles by : Siara Hunt
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.
Book Synopsis Modelling and Controlling a Bio-inspired Flapping-wing Micro Aerial Vehicle by : David Everett Smith
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.
Book Synopsis CFD Based Aerodynamic Modeling to Study Flight Dynamics of a Flapping Wing Micro Air Vehicle by : Alok Ashok Rege
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.
Book Synopsis Flapping Wing Vehicles by : Lung-Jieh Yang
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.
Book Synopsis An Introduction to Flapping Wing Aerodynamics by : Wei Shyy
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).
Book Synopsis Recent Progress Towards Developing an Insect-Inspired Flapping-Wing Micro Air Vehicle by :
Download or read book Recent Progress Towards Developing an Insect-Inspired Flapping-Wing Micro Air Vehicle written by and published by . This book was released on 2007 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper presents an overview of the on-going research activities at Shrivenham, aimed at the design of an autonomous flapping-wing micro air vehicle. After introducing the problem of insect wing kinematics and aerodynamics, we describe our quasi-three-dimensional aerodynamic model for flapping wings. This is followed by a brief discussion of some aerodynamic issues relating to the lift-generating leading-edge vortex. New results are then presented on modelling of wing aeroelastic deflections. Finally, some brief observations are made on flight control requirements for an insect-inspired flapping-wing micro air vehicle. Overall, it is shown that successful development of such a vehicle will require a multi-disciplinary approach, with significant developments in a number of disciplines. Progress to date has largely been concerned with hover. Little is known about the requirements for successful manoeuvre.
