Abstract
Non-harmonic wing flapping trajectories that have been proposed for vehicle flight control are implemented on a Micro Air Vehicle (MAV) wing while flapping at resonance. These bi-harmonic amplitude and bias modulated (BABM) trajectories consist of a fundamental frequency and a second harmonic and can be assembled to create non-zero cycle-averaged wing drag forces that can be used for MAV control. The open-loop drive voltage was preconditioned with discrete harmonic plant compensation to enforce the desired wing trajectory. This preconditioned bi-harmonic wing trajectory was generated by a dSpace system while the wing motion was measured by a laser vibrometer. These trajectories were tested on a 3cm MAV wing driven by a piezo actuator at the resonant frequency of 27 Hz. The wing successfully tracked the BABM trajectory and useful cycleaveraged control forces were measured, paving the way for flapping wing control of MAVs.
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