Modelling and Simulation of Flapping Wing Control for a Micromechanical Flying Insect (Entomopter)

Modeling and Simulation of Nonlinear Dynamics of Flapping Wing Micro Air Vehicles

“…From an extensive review, we discovered very few models of the flight dynamics of FWMAVs that treated the inertial/mass effects of the wings on the central body, and by extension, the entire system. Lasek and Sibilski [22] and Buler et al [23] derive the equations of motion for a FWMAV using the Gibbs-Appel Equations. Lasek and Sibilski develop a simulation architecture in [22] and limit the wings to two degrees of freedom: flapping and lagging.…”

“…Lasek and Sibilski [22] and Buler et al [23] derive the equations of motion for a FWMAV using the Gibbs-Appel Equations. Lasek and Sibilski develop a simulation architecture in [22] and limit the wings to two degrees of freedom: flapping and lagging. Alternatively, flapping is the deviation angle and lagging is the flapping (sweep) angle.…”

“…However, the presented results neglect the mass of the wings. The work by Lesak and Sibiliski in [22], Buler et al in [23], and Grauer and Hubbard in [25] include the mass effects of the wings, but the formulation is limited to ornithopter flight and not true insect flight. Bolender, in [26], included the wing effects in the derivation and simulations, but the wings only have two degrees of freedom relative to the stroke plane.…”

“…However, each of the wings has three holonomically constrained degrees of freedom relative to the central body. Combining the six true degrees of freedom and six holonomically constrained degrees of freedom, we can view the system as having 12 independent degrees of freedom [22,23,34]. As a result, we need 12 generalized coordinates to accurately describe the system.…”

“…The Ansari quasi-steady aerodynamic model, presented in [40,41], includes wake and vortex effects, but high fidelity runs are not computationally efficient for control studies. Quasi-steady aerodynamic models have been used in multibody simulations presented in [22,23,25,26]. The intent of this study is to provide the basis for dynamics studies from a control standpoint.…”