000009313 001__ 9313
000009313 005__ 20141204092428.0
000009313 04107 $$aeng
000009313 046__ $$k12/05/2014
000009313 100__ $$aKarásek, M.
000009313 24500 $$aSimulation of flight control of a hummingbird like robot near hover

000009313 24630 $$n18.$$pEngineering Mechanics 2012
000009313 260__ $$bInstitute of Theoretical and Applied Mechanics, AS CR, Prague
000009313 506__ $$arestricted
000009313 520__ $$2eng$$aInterest in Micro Air Vehicles (MAVs) capable of hovering is gradually increasing because they can be a low-cost solution for security applications or remote inspection. Much research has centred on designs inspired by insects and hummingbirds, where the propellers are replaced by flapping wings. It is assumed that that flapping wings improve, at small scales, both manoeuvrability and energy efficiency. This numerical work based on quasi-steady aerodynamics applies to a hummingbird robot with a pair of flapping wings and a 12 cm wingspan. We construct a control derivatives matrix that estimates the effect of each wing kinematics parameter on the cycle averaged wing forces and forms the key stone of the flight controller. We implement the controller in a simulation model with rigid body dynamics and ”continuous” (i.e. not averaged) aerodynamics. The simulation results show that the controller stabilizes the robot attitude and controls the flight in 4 DOF (translation in any direction + yaw rotation) by modifying only 2 wing kinematic parameters per wing - the flapping amplitude and the mean wing position. Other control parameters are possible. Thus, various mechanical design solutions can be studied in the future.

000009313 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000009313 653__ $$amicro air vehicle, flapping wings, control

000009313 7112_ $$aEngineering Mechanics 2012$$cSvratka (CZ)$$d12/05/2014 - 15/05/2014$$gEM2012
000009313 720__ $$aKarásek, M.$$iPreumont, A.
000009313 8560_ $$ffischerc@itam.cas.cz
000009313 8564_ $$s1188283$$uhttps://invenio.itam.cas.cz/record/9313/files/322_Karasek_M-FT.pdf$$yOriginal version of the author's contribution as presented on CD, paper (No. 322).
000009313 962__ $$r8924
000009313 980__ $$aPAPER