Feedback and Control of Linear Electromagnetic Actuators for Flapping Wing MAVs

Abstract

We present a method for generating feedback and controlling multi-coil linear electromagnetic actuators for flapping wing systems. This has been achieved with a system capable of self-lifting, constructed using 3D-printed structures and miniaturised electromagnetic actuators with a combined weight of 3.07 g. Combining multiple magnets and coils into a single actuator with onboard feedback sensors has improved power densities upon existing linear electromagnetic systems present in the literature. The use of closed-loop control of the dynamics of the flapping profile allows for independent control of both flapping frequency and amplitude, which is differentiated from open-loop and resonance-based systems. This change will allow relatively precise control over the flapping dynamics of future systems while improving actuation efficiency.

A Bibliometric Analysis of Flapping Wing Instrumentation

“…In this instance, the sensor is used in a tachometer to determine the operational frequency of the system. Some example systems that use this method are in references [30,[44][45][46]53,59].…”

“…This can include laser displacement sensors to measure the wing position [69,70] or the position of fixed points in the system such as a slider or the actuator itself [42,44,71], which can also be measured using infra-red [64]. Alternatively, particle image velocimetry can be used to measure the airflow over the wing [73] or a motion capture system to record the motion of aspects of the system during flight [74].…”