Wingbeat Shape Modulation for Flapping-Wing Micro-Air-Vehicle Control During Hover

摘要

Anewmethod of controlling a flapping-wingmicro air vehicle by varying the velocity profiles of thewing strokes isrnpresented in this manuscript. An exhaustive theoretical analysis along with simulation results show that this newrnmethod, called split-cycle constant-period frequency modulation, is capable of providing independent control overrnvertical and horizontal body forces as well as rolling and yawing moments using only two physical actuators, whosernoscillatory motion is defined by four parameters. An actuated bob-weight is introduced to enable independentrncontrol of pitching moment. A general method for deriving sensitivities of cycle-averaged forces and moments tornchanges inwingbeat kinematic parameters is provided, followed by an analytical treatment for a casewhere the anglernof attack of each wing is passively regulated and the motion of the wing spar in the stroke plane is driven by a split-rncycle waveform. These sensitivities are used in the formulation of a cycle-averaged control law that successfullyrnstabilizes and controls two different simulation models of the aircraft. One simulation model is driven byrninstantaneous aerodynamic forces derived from blade-element theory, while the other is driven by an empiricalrnrepresentation of an unsteady aerodynamic model that was derived from experiments.