Abstract
Flapping wing flight has been extensively studied in the field of entomology, resulting in observations on the methods of lift production, high manoeuvrability and efficient flight for various natural flyers in differing flow regimes and leading to significant developments in biomimetic theories regarding flapping wing MAVs. In addition, advances in aerodynamic modelling methods have given insight into the un-steady 3-dimensional flow that characterises typical flapping wing flight. Therefore, before attempting to model a flapping wing MAV and analyse its stability, it is beneficial to consider previous studies carried out. The paper examines hover capable flapping wing flight as presented in previous work. The kinematics and aerodynamics seen in nature and the resulting control methods are explored. The paper additionally looks at existing modelling methods used to study the aerodynamics and overall vehicle behaviour of a hypothetical MAV with an aim to introduce the terminol- ogy and specifics of MAV flight, as well as give a brief description of the work done to date in flapping wing modelling. The paper ends by examining methods used to analyse stability of flapping wing models and demonstrates the suitability of bifurcation and continuation methods in determining stability behaviour of flapping wing flight dynamics models.
Highlights
Flapping wing flight has been extensively studied in the field of entomology, resulting in observations on the methods of lift production, high manoeuvrability and efficient flight for various natural flyers in differing flow regimes and leading to significant developments in biomimetic theories regarding flapping wing Micro air vehicles (MAVs)
The wake effects can be taken into account, as the models are time dependent. They are ideal for the examination of the aerodynamic effects that exist within natural flyers
The unique aspects of this flight regime are demonstrated in the aerodynamics and the control approach seen
Summary
The stroke plane angle determines the direction of the resultant force vector from a flapping cycle. The stroke plane is tilted so that the resultant force is in the opposite direction to the flyer’s weight, much like a rotorcraft. Forward flight is achieved by tilting the stroke plane to give a thrust vector pointing forwards, resulting in a lift and propulsive component. The stroke plane can be tilted sideways to provide an overall side force and a resultant rolling moment. The tilting of the stroke plane is achieved through control of the magnitude of the three rotational wing motions. As an example, increasing the amplitude of the lead-lag motion will result in a tilt of the stroke plane and an increase or decrease in the thrust component
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