Print Email Facebook Twitter A minimal longitudinal dynamic model of a tailless flapping wing robot Title A minimal longitudinal dynamic model of a tailless flapping wing robot Author Kajak, Karl (TU Delft Aerospace Engineering; TU Delft Control & Operations) Contributor Karasek, M. (mentor) Chu, Q. P. (mentor) de Croon, G.C.H.E. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering | Control & Simulation Date 2018-03-15 Abstract Tailless flapping wing micro air vehicles (FWMAVs) havethe potential of providing efficient flight at small scale,with considerable agility. However, this agility also bringssignificant control challenges, which are exacerbated bythe fact that the aerodynamics and dynamics of flappingwing robots are still only partly understood.In this article, we propose a novel, minimal dynamicmodel that is not only validated with experimental data,but also able to predict the consequences of various importantdesign changes. Specifically, the model capturesthe flapping cycle averaged longitudinal dynamics of atailless flapping wing robot, taking into account the mainaerodynamic effects. The model is validated for airspeedsup to 3.5 m/s (when the forward velocity starts to approximatethe wing velocities). It successfully predicts the effectsof changes to the center of mass and flight at differentpitch angles. Hence, the presented model forms animportant step in accelerating the control design of flappingwing robots - which can now be done to a greaterextent in simulation. In order to illustrate this, we haveused the model to improve our control design, resulting ina change of the maximal stable speed of the tailless DelFlyTransformer from 4 m/s to 7 m/s. To reference this document use: http://resolver.tudelft.nl/uuid:717e7e15-94c3-47ac-a348-12f5c2275aa2 Embargo date 2019-03-03 Part of collection Student theses Document type master thesis Rights © 2018 Karl Kajak Files PDF Kajak_MSc_thesis.pdf 22.24 MB Close viewer /islandora/object/uuid:717e7e15-94c3-47ac-a348-12f5c2275aa2/datastream/OBJ/view