This study applies an experimentally-derived insect aerodynamics model that includes body egomotion to develop reduced order flight dynamics models appropriate for estimating the sensing and feedback requirements of insect flapping flight. Wing motions of freely flying Calliphorid species in forward flight are digitized using an automated kinematics extraction method. The wring kinematics are used as inputs to the aerodynamic model, and rigid body dynamics used to compute 6DOF flight trajectories. Finally, system identification and numerical perturbation techniques are used to derive reduced order models of the forward flight dynamics. Longitudinal results indicate a pitch damping mode and pitch/surge oscillatory mode similar to hovering dynamics. However, the uncoupled heave damping mode observed in hover now involves all longitudinal states, indicating that heave motion is coupled in forward flight. Lateral-directional results show roll and yaw damping modes as in hover, but the combined roll/yaw damping mode is replaced by an unstable oscillatory mode involving all lateral-directional states in roughly equal proportions.
展开▼
