A Study On Modeling And Control Of Flapping-Wing Micro Aerial Vehicles

With the development of science and technology,Flapping-Wing Micro Aerial Vehicles(FWMAVs)has drawn intense attention from the research communities in recent years.Compared with conventional aircrafts.FWMAVs have many advantages,including low costs,high efficiency and marvelous maneuverability,thus they can carry out various tasks.Countries around the globe have been paying consistent effort to the research on the flight mechanism and control methods of FWMAVs.In the present thesis,the focus is mainly put on four topics,including the mathematical modelling,wind tunnel test and aerodynamics measurements,flight control system design of the FWMAVs.and the design,manufacture and test of some FWMAV prototypes.(1)The kinetic and dynamic model of the FWMAV is introduced,which describes the locomotion of the FWMAV and the relationship between the locomotion parameters and the aerodynamic forces of the FWMAV.(2)Wind tunnel experiments of the FWMAV are applied.A wind tunnel experiment tool is developed and the corresponding measuring method is described.A series of wind tunnel tests are performed on the FWMAVs.By measuring the total force at common pressure,and the inertial force at vacuum,the aerodynamic force can be obtained by subtract the inertial force from the total force.(3)The flight control system design of the FWMAV is studied.Two different methods are applied to the design of the flight controller of the FWMAV.namely,the back-stepping control and Iterative Learning Tuning(ILT)optimized Linear Quadratic Regulator(LQR).The convergence and effectiveness of the two controllers are discussed.(4)Based on the work above,two versions of FWMAV prototypes are designed and manufactured.The first version of prototype,named FW-01,is used for wind tunnel tests.After the measurements and understanding of the flight mechanism,another version of prototype,named FW-02,is designed,manufactured,and performed the flight test on.The FW-02 FWMAV is capable to fly successfully for a certain time.