MODELING THE FLAPPING MOTION VIA QUASI-STEADY APPROACH AND CONTROLLING THE LONGITUDINAL DYNAMICS OF A FLAPPING WING MAVOzgun Calis, Kutluk Bilge Arikan and Dilek Funda Kurtulus An aerodynamic model in order to simulate and control the flapping-wing micro air vehicle based on the quasi-steady approach and blade element theory is developed to calculate the instantaneous aerodynamic forces and moments. The system dynamics of a 2-D flapping-wing MAV in hover mode are modeled. Control simulations are done for hover, take-off, forward flight and landing conditions. Linear Quadratic Regulator (LQR) and Coefficient Diagram Method (CDM) are used to stabilize the flapping-wing system. The effectiveness of the controllers are compared in the means of disturbance rejection, response speed, and controller response. By using the stroke plane angle and the flapping frequency as the control inputs, six state variables of the system are stabilized. Position commands are tracked with an integral tracker at low-speed flights. |