From Natural Flyers to the Mechanical Realization of a Flapping Wing Micro Air Vehicle

Conn, Andrew T.; Burgess, SC; Hyde, Richard; Ling, Chung Seng

doi:10.1109/robio.2006.340232

Cited by 28 publications

(19 citation statements)

References 11 publications

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“…Combining (16) and (17) with (13) and (15), we conclude that v x and v z are also functions of (Ḟ ,L,F ,L, F (3) , L (3) ). On the other hand, differentiating expressions (14) with regard to time and rearranging terms…”

Section: Flatness Of the Systemmentioning

confidence: 58%

Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

Belmonte

Morales

Fernández-Caballero

et al. 2015

Artificial Computation in Biology and Medicine

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Abstract. This paper falls under the idea of introducing biomimetic miniature air vehicles in ambient assisted living and home health applications. The concepts of active disturbance rejection control and flatness based control are used in this paper for the trajectory tracking tasks in the flapping-wing miniature air vehicle (FWMAV) time-averaged model. The generalized proportional integral (GPI) observers are used to obtain accurate estimations of the flat output associated phase variables and of the time-varying disturbance signals. This information is used in the proposed feedback controller in (a) approximate, yet close, cancelations, as lumped unstructured time-varying terms, of the influence of the highly coupled nonlinearities and (b) the devising of proper linear output feedback control laws based on the approximate estimates of the string of phase variables associated with the flat outputs simultaneously provided by the disturbance observers. Numerical simulations are provided to illustrate the effectiveness of the proposed approach.

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Section: Flatness Of the Systemmentioning

confidence: 58%

Robust Linear Longitudinal Feedback Control of a Flapping Wing Micro Air Vehicle

Belmonte

Morales

Fernández-Caballero

et al. 2015

Artificial Computation in Biology and Medicine

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“…The brushless out-runner motor MICRO and carbon rotor MCF3225 4 from the company MicroInvent were tested in the experiment as shown in Fig. 12.…”

Section: Test Procedures and Computational Methods 31 Rotor And Motormentioning

confidence: 99%

“…Degradation of motor efficiency and rotor figure of merit are observed with size reduction associated with NAV applications. [1][2][3][4][5]. At present, more complicated battlefield environments or civilian security situations force soldiers to implement MAVs in urban missions.…”

mentioning

confidence: 99%

Design of Test Benches for the Hovering Performance of Nano-Rotors

Liu

Moschetta

Chapman

et al. 2010

International Journal of Micro Air Vehicles

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With the reduction of rotor diameter and motor size, the hovering performance measurement becomes a challenge for rotary wing Nano Air Vehicles (NAVs). Conventional test benches for Micro Aerial Vehicles fail to measure some characteristics of Nano Air Vehicles. In this paper, five test benches with highly sensitive mechanisms were successively designed in order to measure the thrust and torque of nano-rotors simultaneously and respond to the change of variables rapidly with sufficient accuracy. A commercial micro brushless motor and a micro rotor were studied experimentally and computationally at a low Reynolds range from 4,000 to 19,000. Computational and experimental comparisons were carried out and the performance of the test benches was discussed. The analysis suggests that the thrust coefficients measured by each test bench vary little from each other, while the power coefficients present significant differences. Then the hovering performance of the micro rotor and power efficiency of the motor were studied. Degradation of motor efficiency and rotor figure of merit are observed with size reduction associated with NAV applications. [1][2][3][4][5]. At present, more complicated battlefield environments or civilian security situations force soldiers to implement MAVs in urban missions. Therefore, an ever-present need has emerged to improve MAV capabilities, enabling the timely collection of comprehensive intelligence information, particularly on the ground in urban terrain. However, current MAVs are too large to provide situational awareness to the users; consequently, even smaller Unmanned Air Vehicles (UAVs) are required to allow reconnaissance inside buildings, penetration of narrow entries and transmission of data without being detected. Therefore, NAVs [6] were proposed to fulfil such missions. Referring to the definition proposed by DARPA, a NAV is defined as a UAV whose maximum dimension should not exceed 3 inches (7.5 cm) and maximum weight should be less than 10 g. Because of the special requirement of this kind of aerial vehicle, it should be able to autonomously enter buildings, stare, spot targets and transmit data at a fairly low speed or hovering mode. Hence, compared with the conventional MAV, a NAV not only has a smaller size but also the requirement of a low-speed flight and hovering ability. Furthermore, it is expected that NAVs should have an endurance of 20 minutes to complete a recognition mission within a range of less than 1 km. Consequently, the propulsion efficiency becomes a quite important parameter for NAV design. In addition, hovering performance is always a bottleneck for the design of small unmanned air vehicles as a result of the degradation of the aerodynamic performance at low Reynolds numbers. Thus, the hovering performance of NAVs was investigated in this paper. NOMENCLATUREPresently, two concepts are predominately studied in the design of NAVs [7][8][9]. One is the rotary wing; the other is the flapping wing. Previous studies have shown that the rotary-wing conce...

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“…Furthermore their pronounced ability to handle large varying surrounding conditions such as wind turbulence ensures that much research has been undertaken in understanding their flight dynamics and methods of propulsion. The normal method of mechanical actuation in such species is that of the flapping wing design, which using a number of complex unsteady aerodynamic phenomena allows the insects to produce lift and thrust forces several times their original size [10]. Additionally such designs exhibit the greatest potential for miniaturisation over other aerial platform designs, with limited understanding of the aerodynamic effects at low Reynolds numbers.…”

Section: Biologically Inspiredmentioning

confidence: 99%

“…Additionally such designs exhibit the greatest potential for miniaturisation over other aerial platform designs, with limited understanding of the aerodynamic effects at low Reynolds numbers. Many practical design have been developed over a number of years [9][10][11], however they currently are far inferior to standard developed conventional aerial flight deigns, when comparing payload, robustness and overall control.…”

Section: Biologically Inspiredmentioning

confidence: 99%