Analysis on Hover Control Performance of T- and Cross-Shaped Tail Fin of X-Wing Single-Bar Biplane Flapping Wing

Abstract

The current flapping wing adopts T-shaped or cross-shaped tail fin to adjust its flight posture. However, how the tail fin will affect the hover control is not very clear. So, the effects of the two types of tail on flight will be analyzed and compared by actual flight tests in this paper. Firstly, we proposed a new X-wing single-bar biplane flapping-wing mechanism with two pairs of wings. Thereafter, the overall structure, gearbox structure, tail, frame, and control system of the flapping wing were designed and analyzed. Secondly, the control mechanism of hover is analyzed to describe the effect of two-tail fin on posture control. Thirdly, the Beetle was used as the control unit to achieve a controllable flight of flapping wing. The MPU6050 electronic gyroscope was used to monitor the drone’s posture in real time, and the Bluetooth BLE4.0 wireless communication module was used to receive remote control instructions. At last, to verify the flight effect, two actual flapping wings were fabricated and flight experiments were conducted. The experiments show that the cross-shaped tail fin has a better controllable performance than the T-shaped tail fin. The flapping wing has a high lift-to-mass ratio and good maneuverability. The designed control system can achieve the controllable flight of the flapping wing.

Collaborative Adjustment of Wing-Tail Distance and Tail Attitude to Achieve Agile Maneuver Flight of Biomimetic Flapping Wing Robot

“…Moreover, they possess the ability to modify their flight direction through alterations in both the angle and morphology of their tail (38,39). Due to the exceptional lateral stability provided by the T-shaped tail 40,41 , it has been selected as the optimal choice for the flapping wing robot in this study. In order to ensure that the robot has a certain longitudinal static stability during normal flight and provides sufficient control torque during maneuvering flight, it is required that the tail has an appropriate tail capacity.…”

Inherently stable descending flight of a tailless flapping wing micro air vehicle by upward wing elevation

“…Much effort has been invested in understanding and modeling the aerodynamics of flapping flight 2,1,3,4 and in the development of aerial robots that mimic the flapping wing mechanism for lift production. [5][6][7][8][9][10] While conventional fixed wing and rotary wing drones are well suited for applications in large open areas, 11 insect-like flapping wing micro air vehicles and nano air vehicles (FWMAVs and FWNAVs) can be deployed in confined spaces that are difficult to navigate for other types of aerial vehicles. 12 Compared to fixed wing and rotary wing vehicles, flapping wing drone performance characteristics make them an attractive technology for applications that require downscaling.…”

“…Flapping wing aerial vehicles traditionally move their wings in a body horizontal plane. [5][6][7][8][9][10] This work considers a design feature where the wings are mounted in an upward elevation angle. Upward wing elevation creates a stabilizing effect similar to the lateral stabilization that results from an airplane wing dihedral.…”