The effect of the abdomen deformation on the longitudinal stability of flying insects

Choi, Sang Yeon; Kim, Joong Kwan; Han, Jae-Kyung; Han, Jae Hung

doi:10.1117/12.2083847

Cited by 3 publications

(4 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Inertial effect of body segments also plays an important role in the overall flight dynamics and stability, because the real hawkmoth has flexible connections between body segments that allows passive or active movement, thus resulting in changes of inertial properties. Several recent studies reported that a precisely controlled motion of a body segment such as the abdomen can affect overall flight dynamics and stability of hawkmoth (Dyhr et al 2013, Noda et al 2014, Choi et al 2015. Therefore, for more fundamental analyses of dynamic stability of the hawkmoth, both the inertia and stiffness between various body segments need to be considered.…”

Section: Discussion Of the Stability Characterizationmentioning

confidence: 99%

Hovering and forward flight of the hawkmothManduca sexta: trim search and 6-DOF dynamic stability characterization

et al. 2015

Self Cite

View full text Add to dashboard Cite

We show that the forward flight speed affects the stability characteristics of the longitudinal and lateral dynamics of a flying hawkmoth; dynamic modal structures of both the planes of motion are altered due to variations in the stability derivatives. The forward flight speed u e is changed from 0.00 to 1.00 m s(-1) with an increment of 0.25 m s(-1). (The equivalent advance ratio is 0.00 to 0.38; the advance ratio is the ratio of the forward flight speed to the average wing tip speed.) As the flight speed increases, for the longitudinal dynamics, an unstable oscillatory mode becomes more unstable. Also, we show that the up/down (w(b)) dynamics become more significant at a faster flight speed due to the prominent increase in the stability derivative Z(u) (up/down force due to the forward/backward velocity). For the lateral dynamics, the decrease in the stability derivative L(v) (roll moment due to side slip velocity) at a faster flight speed affects a slightly damped stable oscillatory mode, causing it to become more stable; however, the t(half) (the time taken to reach half the amplitude) of this slightly damped stable oscillatory mode remains relatively long (∼12T at u(e) = 1 m s(-1); T is wingbeat period) compared to the other modes of motion, meaning that this mode represents the most vulnerable dynamics among the lateral dynamics at all flight speeds. To obtain the stability derivatives, trim conditions for linearization are numerically searched to find the exact trim trajectory and wing kinematics using an algorithm that uses the gradient information of a control effectiveness matrix and fully coupled six-degrees of freedom nonlinear multibody equations of motion. With this algorithm, trim conditions that consider the coupling between the dynamics and aerodynamics can be obtained. The body and wing morphology, and the wing kinematics used in this study are based on actual measurement data from the relevant literature. The aerodynamic model of the flapping wings of a hawkmoth is based on the blade element theory, and the necessary aerodynamic coefficients, including the lift, drag and wing pitching moment, are experimentally obtained from the results of previous work by the authors.

show abstract

Section: Discussion Of the Stability Characterizationmentioning

confidence: 99%

Hovering and forward flight of the hawkmothManduca sexta: trim search and 6-DOF dynamic stability characterization

et al. 2015

Self Cite

View full text Add to dashboard Cite

show abstract

“…In equation (10), L F is the lift force for front wings, L B is the lift force for back wings, b FW , b BW are the distance between the effective point of lift of front (back) wings, and the suspension point. The suspension point is assumed to be located on the CG of the MAV.…”

Section: Linearization Around Hover Point For Longitudinal Mode On a ...mentioning

confidence: 99%

“…6–9 The nonlinear equations of a hovering insect are derived and the flexible abdominal motion effect on linearized longitudinal equation roots is investigated. 10 The trim condition of a hawkmoth is obtained using actual data. 11 The experimental study of dragonfly elastic wings is conducted in Sivasankaran et al 12 Such studies have motivated researchers and engineers to construct MAV wings by inspiration from insects and birds for example, Nano Hummingbirds, KUBeetles, and DelFly.…”

Section: Introductionmentioning

confidence: 99%

Hardware in the loop simulation and implementation of a dragonfly-like MAV using clap and fling mechanism

Lashgari

Naghash

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

The main aim of this paper is to model and simulate flight dynamics and to design a controller for a dragonfly-like micro aerial vehicle (MAV). This MAV has flapping wings using a clap and fling mechanism with a rigid abdomen. Kane’s method is applied to derive the longitudinal motion equations of the MAV as a multi-body system. Then, the aerodynamic lift and drag forces of the MAV are obtained. These equations are substituted in the derived motion equations. Furthermore, a new structure for a dragonfly-like flapping wing MAV is presented in which abdomen motion is considered in the longitudinal mode. In this work, the use of the abdomen is also formulated. A change in the motor’s speed generates differential thrust that creates a pitch moment as a control input. State space linearized equations of motion are presented by using appropriate assumptions in the aerodynamics, and dynamic nonlinear equations. To validate the linearized model, the response of the open-loop linear system is compared with the nonlinear one. In addition, the positive role of the abdomen in the open loop is discussed and analyzed. Finally, an LQR controller is designed for the pitch mode which is robust against disturbances. The validity, effectiveness, and performance of the derived equations and designed autopilot are shown by implemented hardware in the loop testbed using a fixed abdomen. Results demonstrate a good agreement between theoretical and experimental responses with accurate hovering at the desired angle.

show abstract

“…Many researchers have long been striving to uncover the roles of different body structures in flight manipulation. In their studies, various topics have been paid attention to, for example, the postural control [85,137,138]. In our research, the beetle, Mecynorrhina torquata, is used to investigate the roles of the forelegs in maintaining the flight.…”

Section: 1: Introductionmentioning

confidence: 99%

Studies on the banked-turn of Coleopteran flight and electrical stimulation for wing oscillation and foreleg motion to elicit take-off and turning in flight

Li¹

View full text Add to dashboard Cite

The effect of the abdomen deformation on the longitudinal stability of flying insects

Cited by 3 publications

References 10 publications

Hovering and forward flight of the hawkmothManduca sexta: trim search and 6-DOF dynamic stability characterization

Hovering and forward flight of the hawkmothManduca sexta: trim search and 6-DOF dynamic stability characterization

Hardware in the loop simulation and implementation of a dragonfly-like MAV using clap and fling mechanism

Studies on the banked-turn of Coleopteran flight and electrical stimulation for wing oscillation and foreleg motion to elicit take-off and turning in flight

Contact Info

Product

Resources

About