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Author: Zhuo Yan
Publisher:
ISBN:
Category : Electronic dissertations
Languages : en
Pages : 85
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Book Description
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.
Author: Zhuo Yan
Publisher:
ISBN:
Category : Electronic dissertations
Languages : en
Pages : 85
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Book Description
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.
Author: Shiba Biswal
Publisher:
ISBN:
Category : Micro air vehicles
Languages : en
Pages : 93
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Book Description
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.
Author: G.C.H.E. de Croon
Publisher: Springer
ISBN: 9401792089
Category : Technology & Engineering
Languages : en
Pages : 221
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Book Description
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.
Author: Pratik N. Vernekar
Publisher:
ISBN:
Category :
Languages : en
Pages : 94
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Book Description
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.
Author: Adrian Olaru
Publisher: Trans Tech Publications Ltd
ISBN: 303826492X
Category : Technology & Engineering
Languages : en
Pages : 860
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Book Description
Collection of selected, peer reviewed papers from the 9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, (OPTIROB 2014), June 26-29, 2014, Mangalia, Romania. The 115 papers are grouped as follows: Chapter 1: Aerospace, Chapter 2: Robotics and Mechatronics, Chapter 3: Applied Dynamics, Mechanics and Engineering, Chapter 4: Maschine-Tools and Manufacturing Modern Methods, Chapter 5: Human Motricities, Chapter 6: Image Processing, Chapter 7: Management Application
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 13
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Book Description
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.
Author: Hermann Schlichting
Publisher: McGraw-Hill Companies
ISBN:
Category : Science
Languages : en
Pages : 560
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Book Description
Author: Zaeem Khan
Publisher:
ISBN: 9781109386585
Category : Airplanes
Languages : en
Pages :
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Book Description
?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.
Author: Mubarak Alkitbi
Publisher:
ISBN:
Category :
Languages : en
Pages : 157
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Book Description
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.
Author: Siara Hunt
Publisher:
ISBN:
Category : Aerodynamics
Languages : en
Pages : 190
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Book Description
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.
