Model-Based Evaluation of Control Roll, Pitch, Yaw Moments for a Robotic Hummingbird

Timmermans, Siemen; Leys, Frederik; Vandepitte, Dirk

doi:10.2514/1.g002819

Cited by 4 publications

(3 citation statements)

References 22 publications

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“…Ristroph et al [9], Vogel [10], Muijres [11], and Meng and Sun [12]; and studies of hummingbirds by Nan et al [13,14], Fei et al [15], and Timmermans et al [16].…”

Section: Introductionmentioning

confidence: 99%

Mechanism and Kinematics for Flapping Wing Micro Air Vehicles Maneuvering Based on Bilateral Wings

Zhang

et al. 2022

International Journal of Aerospace Engineering

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With the development and application of a bionic flapping micro aircraft vehicle (FMAV), further requirements for its high maneuvering flight characteristics have been put forward. A controlling tail cannot meet the requirements of the maneuvering flight of insect-sized FMAVs, and it has become necessary to find new mechanisms for high maneuvering flight. In this study, two flapping mechanisms with movable hinges based on a double crank rocker mechanism (DCRM) and a single crank slider mechanism (SCSM) are proposed. The instantaneous flapping angles, their extremum and means, and the flapping amplitudes of the two mechanisms are studied for various hinge offsets. A comparison between these two mechanisms indicates that the mechanism based on SCSM is more appropriate in providing adjustable flapping amplitudes for lateral wings. Finally, a dragonfly-like prototype assembled using a carbon fiber plate with adjustable wings is designed and manufactured based on the SCSM. Flight tests are conducted to show that the rack and pinion mechanism can accomplish the movement of hinges neatly, and the proposed flapping mechanism makes left turns and right turns effectively while continuing to fly forward. The prototype is good in terms of crashworthiness and the replacement of components, and it offers an easy and reliable technique for the maneuvering flight of FMAVs.

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“…Ristroph et al [9], Vogel [10], Muijres [11], and Meng and Sun [12]; and studies of hummingbirds by Nan et al [13,14], Fei et al [15], and Timmermans et al [16].…”

Section: Introductionmentioning

confidence: 99%

Mechanism and Kinematics for Flapping Wing Micro Air Vehicles Maneuvering Based on Bilateral Wings

Zhang

et al. 2022

International Journal of Aerospace Engineering

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“…This system reduces the complexity of the drive-line and therefore system robustness improves. Control can be exerted by actively adapting the motor current [19].The introduction of an elastic element into the drive-line, which is designed to operate at a near resonance frequency is shown to reduce the overall power requirements of the system [12,20]. This concept is currently used in the Kulibrie FWNAV which serves as reference prototype.…”

mentioning

confidence: 99%

“…This system reduces the complexity of the drive-line and therefore system robustness improves. Control can be exerted by actively adapting the motor current [19].…”

mentioning

confidence: 99%

Model-Based Sensitivity Analysis of Flapping Wing Driveline Parameters

Timmermans

Vandepitte

2020

Journal of Guidance, Control, and Dynamics

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This system was developed for a first FWNAV prototype at KU Leuven [13]. Another configuration uses a direct transmission from the motor to the wing motion and the motor is driven with an alternating current [12,17,18]. This system reduces the complexity of the drive-line and therefore system robustness improves. Control can be exerted by actively adapting the motor current [19].The introduction of an elastic element into the drive-line, which is designed to operate at a near resonance frequency is shown to reduce the overall power requirements of the system [12,20]. This concept is currently used in the Kulibrie FWNAV which serves as reference prototype. A third configuration uses a piezoelectric actuator [21]. This concept is particularly effective for very small designs but a DC-DC converter is needed, which poses a significant weight challenge.Improvement of overall performance is essential to increase the use of FWNAVs in practical applications. This can be done by optimizing the wing design and aerodynamics [22,23] or by optimizing the drive-line dynamics. Because the wing stroke is the most demanding motion of the system, this work focuses on the wing drive-line dynamics, driving the stroke motion to accomplish this performance gain. The study uses a model-based approach to complement the foregoing experimental work. This model-based approach starts from a lumped parameter single degree of freedom (DOF) mass-spring-damper model, which is adopted by several research groups [12,15,18,20,[24][25][26]. This model concept is used in the assumption that the influence of the wing pitch dynamics on the stroke dynamics is negligible. However the change in wing inclination is in previous research always included in the calculation of the wing aerodynamics. This work starts from the idea that 1 DOF is sufficient to model the relevant phenomena present in the drive-line dynamics and it completely removes the model terms related to the second DOF [27]. The input to the resulting second order nonlinear time-invariant model is the motor current. The model simulation provides an instantaneous stroke angle.A sensitivity analysis using the resulting model expression identifies the parameters which have the largest influence on performance. The efficiency of the drive-line system is used as the key performance indicator. This paper distinguishes between wing motion parameters and drive-line system parameters. Sensitivity analysis of the wing motion parameters gives the optimal controller input settings. Efficiency analysis of the drive-line system parameters is utilized to predict the

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Comparison of Yaw Moment Generation Methods for Motor Directly Driven Flapping Wing Micro Aerial Vehicle

Choi,

Jeong,

Park

et al. 2023

2023 23rd International Conference on Control, Automation and Systems (ICCAS)

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Model-Based Evaluation of Control Roll, Pitch, Yaw Moments for a Robotic Hummingbird

Cited by 4 publications

References 22 publications

Mechanism and Kinematics for Flapping Wing Micro Air Vehicles Maneuvering Based on Bilateral Wings

Mechanism and Kinematics for Flapping Wing Micro Air Vehicles Maneuvering Based on Bilateral Wings

Model-Based Sensitivity Analysis of Flapping Wing Driveline Parameters

Comparison of Yaw Moment Generation Methods for Motor Directly Driven Flapping Wing Micro Aerial Vehicle

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