Modeling and parametric study of a flexible flapping-wing MAV using the bond graph approach

Abstract

The focus of the present paper is the parametric dynamic study of a flexible bird-like flapping-wing micro-air vehicle (FMAV). A model of a flapping-wing MAV, containing main body, flapping mechanism, flexible wings, and propulsion system consisting of battery, DC motor, and gear box using the bond graph method is presented and then the governing equations of motion from the conceptual model is derived. Moreover, the simulation is carried out in the simulation software 20-sim. The sensitivity analysis of the flapping-wing performance to various mechanical and electrical parameters is done. In this regard, it is conducted to investigate the effect of wing flexibility, relocation of the force point of action, motor initial inertia, torsional spring stiffness, phase difference between 2 wings motion, and also the effect of changing flapping frequency on some important issues containing wing deflection, applied force and flapping angle. It is shown that the proposed bond graph model not only provides an efficient virtual dynamic framework to resolve the complexity of modeling the flexible flapping-wing MAVs but also can simplify and accelerate the process of sensitivity analysis of such complex systems.