TY - GEN
T1 - Exploitation of the saturation phenomenon for actuation of a flapping MAV in hovering and forward flight
AU - Taha, Haithem E.
AU - Nayfeh, Ali H.
AU - Hajj, Muhammad R.
PY - 2013
Y1 - 2013
N2 - Stringent weight and size constraints on flapping-wing micro-air-vehicles dictate minimal actuation. Unfortunately, hovering and forward flight require different wing motions and, as such, independent actuators. Therefore, a hovering or a forward-flight requirement should be included in the mission and design statements of a flapping-wing micro-airvehicle. This work proposes a design for an actuation mechanism that would provide the required kinematics in each flight condition using only one actuator. The idea is to exploit the nonlinear dynamics of the flapping wing to induce the saturation phenomenon. One physical spring in the plunging direction is needed along with a feedback by the plunging angle into the control torque of the actuator in the back and forth flapping direction. By detuning the feedback gains away from the saturation requirement, flapping kinematics required for hovering are obtained. In contrast, by tuning the feedback gains to induce the saturation phenomenon, the motion is transferred into the plunging direction. Moreover, the actuating torque (in the flapping direction) would then provide a direct control over the amplitude of the plunging motion, while the amplitude of the actuated flapping motion saturates and does not change as the amplitude of the actuating torque increases.
AB - Stringent weight and size constraints on flapping-wing micro-air-vehicles dictate minimal actuation. Unfortunately, hovering and forward flight require different wing motions and, as such, independent actuators. Therefore, a hovering or a forward-flight requirement should be included in the mission and design statements of a flapping-wing micro-airvehicle. This work proposes a design for an actuation mechanism that would provide the required kinematics in each flight condition using only one actuator. The idea is to exploit the nonlinear dynamics of the flapping wing to induce the saturation phenomenon. One physical spring in the plunging direction is needed along with a feedback by the plunging angle into the control torque of the actuator in the back and forth flapping direction. By detuning the feedback gains away from the saturation requirement, flapping kinematics required for hovering are obtained. In contrast, by tuning the feedback gains to induce the saturation phenomenon, the motion is transferred into the plunging direction. Moreover, the actuating torque (in the flapping direction) would then provide a direct control over the amplitude of the plunging motion, while the amplitude of the actuated flapping motion saturates and does not change as the amplitude of the actuating torque increases.
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M3 - Conference contribution
AN - SCOPUS:84881358665
SN - 9781624102233
T3 - Collection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
BT - 54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
T2 - 54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
Y2 - 8 April 2013 through 11 April 2013
ER -