Exploitation of the saturation phenomenon for actuation of a flapping MAV in hovering and forward flight

Haithem E. Taha, Ali H. Nayfeh, Muhammad R. Hajj

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
StatePublished - 2013
Event54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference - Boston, MA, United States
Duration: 8 Apr 201311 Apr 2013

Publication series

NameCollection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
ISSN (Print)0273-4508

Conference

Conference54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
Country/TerritoryUnited States
CityBoston, MA
Period8/04/1311/04/13

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