Flight testing and preliminary analysis for global system identification of ornithopter dynamics using on-board and off-board data

S. F. Armanini, M. Karásek, C. C. de Visser, G. C.H.E. de Croon, M. Mulder

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

7 Scopus citations

Abstract

Bioinspired flapping-wing robots allow for unprecedented manoeuvrability and versatility, and increasingly small and light designs, with significant potential for flight in tight or cluttered spaces. For efficient design, operation and control of such vehicles, fully exploiting their potential and allowing for flight in a wide range of conditions, it is paramount to explore and model their dynamics across their intended flight envelope. However, due the complex flapping-flight mechanisms and limited availability of free-flight data, global models are not yet available, particularly models based on real flight data and simple enough to be applicable in practice. This paper discusses a set of free-flight tests conducted with an ornithopter to, firstly, investigate its dynamics in a range of different flight conditions, and, secondly, provide a basis for global model identification, important for advanced controller development, simulation and performance evaluations. The obtained results are presented and system identification is used to provide insight into the dynamics of the ornithopter in different flight conditions. Additionally, the flight testing process is discussed, focusing on acquiring data suitable for identification and analysis of flapping-wing vehicles, specifically. This includes fusing on-board IMU and off-board optical tracking data, to obtain not only a higher quality and reliability, but also accurate high-frequency measurements that can be used to analyse time-resolved flapping effects in free flight and during manoeuvres.

Original languageEnglish
Title of host publicationAIAA Atmospheric Flight Mechanics Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104480
DOIs
StatePublished - 2017
Externally publishedYes
EventAIAA Atmospheric Flight Mechanics Conference, 2017 - Denver, United States
Duration: 5 Jun 20179 Jun 2017

Publication series

NameAIAA Atmospheric Flight Mechanics Conference, 2017

Conference

ConferenceAIAA Atmospheric Flight Mechanics Conference, 2017
Country/TerritoryUnited States
CityDenver
Period5/06/179/06/17

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