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Development of unsteady models for flapping wings' controller design approach

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2016
Ormancı, Filiz
Among a wide variety of micro air vehicles (MAV) due to their sizes, shapes, mechanisms and remoting technique; insect scaled flapping wing vehicles offer potential advantages like; higher agility for collision avoidance by rapid maneuvering compared to fixed wing MAVs, less noise compared to rotary wing MAVs, number of similar species in nature to imitate while modeling. Therefore, they are mainly in favor for defense applications. Main scope of the thesis is to develop an unsteady model capable of calculating aerodynamic forces and moments for insect flight. Additionally, the total forces and moments are calculated at the body center of mass by rigid body dynamics equations. By this way, during the motion of the wings, the instantaneous angle and angular acceleration of the flapping body is found. These values are used in control applications to stabilize the system. Body maneuvers are possible when right and left wings are moving with different input frequencies and amplitudes. Different cases of time dependent wing motions which are sweeping, heaving and pitching can be tested by the current analytical model. In this thesis, after analytical modelling, both a testing apparatus for analyzing only roll attitude and for analyzing all rotational body dynamics are designed. These wing systems can be used to test the model for real-time control applications.