A three-wing Flapping Wing Rotor Micro Aerial Vehicle(FWR-MAV)which can perform controlled flight is introduced and an experimental study on this vehicle is presented.A mechanically driven flapping rotary mechanism is...A three-wing Flapping Wing Rotor Micro Aerial Vehicle(FWR-MAV)which can perform controlled flight is introduced and an experimental study on this vehicle is presented.A mechanically driven flapping rotary mechanism is designed to drive the three flapping wings and generate lift,and control mechanisms are designed to control the pose of the FWR-MAV.A flight control board for attitude control with robust onboard attitude estimation and a control algorithm is also developed to perform stable hovering flight and forward flight.A series of flight tests was conducted,with hovering flight and forward flight tests performed to optimize the control parameters and assess the performance of the FWR-MAV.The hovering flight test shows the ability of the FWR-MAV to counteract the moment generated by rotary motion and maintain the attitude of the FWR-MAV in space;the experiment of forward flight shows that the FWR-MAV can track the desired attitude.展开更多
The 3D model of flapping wing mechanism and veins is constructed in 3D computer aided design (CAD) software UG.Then the co-simulation model is established by using multibody dynamics software ADAMS and MATLAB.The vali...The 3D model of flapping wing mechanism and veins is constructed in 3D computer aided design (CAD) software UG.Then the co-simulation model is established by using multibody dynamics software ADAMS and MATLAB.The validation of this co-simulation model is verified by comparing the simulation results with final experiments.The simulation results and experiments reveal that the relation between flapping frequency and driving voltage of motor is approximately linear under various wingspans.The variance of flapping frequency among different wingspans augments gradually with increasing voltage.Furthermore,the simulation results suggest that flapping frequency is sensitive to wingspan and decreases with increasing wingspan of veins,and the relation between flapping frequency and moment of inertia of veins is also approximately linear for various voltages.展开更多
基金supported by the National Natural Science Foundation of China(No.:11572023)。
文摘A three-wing Flapping Wing Rotor Micro Aerial Vehicle(FWR-MAV)which can perform controlled flight is introduced and an experimental study on this vehicle is presented.A mechanically driven flapping rotary mechanism is designed to drive the three flapping wings and generate lift,and control mechanisms are designed to control the pose of the FWR-MAV.A flight control board for attitude control with robust onboard attitude estimation and a control algorithm is also developed to perform stable hovering flight and forward flight.A series of flight tests was conducted,with hovering flight and forward flight tests performed to optimize the control parameters and assess the performance of the FWR-MAV.The hovering flight test shows the ability of the FWR-MAV to counteract the moment generated by rotary motion and maintain the attitude of the FWR-MAV in space;the experiment of forward flight shows that the FWR-MAV can track the desired attitude.
基金the National Natural Science Foundationof China(No.60375033)
文摘The 3D model of flapping wing mechanism and veins is constructed in 3D computer aided design (CAD) software UG.Then the co-simulation model is established by using multibody dynamics software ADAMS and MATLAB.The validation of this co-simulation model is verified by comparing the simulation results with final experiments.The simulation results and experiments reveal that the relation between flapping frequency and driving voltage of motor is approximately linear under various wingspans.The variance of flapping frequency among different wingspans augments gradually with increasing voltage.Furthermore,the simulation results suggest that flapping frequency is sensitive to wingspan and decreases with increasing wingspan of veins,and the relation between flapping frequency and moment of inertia of veins is also approximately linear for various voltages.
