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Flight Dynamics and System Identification for Modern Feedback Control
Avian-Inspired Robots
Jared A Grauer (Author), James E Hubbard Jr. (Author)
9780857094667
Hardback, published 31 August 2013
160 pages
23.3 x 15.6 x 1.8 cm, 0.4 kg
"...very clearly written and is quite readable. The authors are clearly leading experts in the field...strongly recommended to readers interested in the subject." --The Aeronautical Journal, February 2015 "Aerospace engineers Grauer…and Hubbard…describe an ornithopter they designed, built, and tested. An ornithopter flies by flapping wings like a bird. They cover ornithopter test platform characterizations, rigid multi-body vehicle dynamics, system identification of aerodynamic models, and simulation results." --ProtoView.com, February 2014
Unmanned air vehicles are becoming increasingly popular alternatives for private applications which include, but are not limited to, fire fighting, search and rescue, atmospheric data collection, and crop surveys, to name a few. Among these vehicles are avian-inspired, flapping-wing designs, which are safe to operate near humans and are required to carry payloads while achieving manoeuverability and agility in low speed flight. Conventional methods and tools fall short of achieving the desired performance metrics and requirements of such craft. Flight dynamics and system identification for modern feedback control provides an in-depth study of the difficulties associated with achieving controlled performance in flapping-wing, avian-inspired flight, and a new model paradigm is derived using analytical and experimental methods, with which a controls designer may then apply familiar tools. This title consists of eight chapters and covers flapping-wing aircraft and flight dynamics, before looking at nonlinear, multibody modelling as well as flight testing and instrumentation. Later chapters examine system identification from flight test data, feedback control and linearization.
Dedication List of figures List of tables Nomenclature Preface About the authors Chapter 1: Introduction Abstract: 1.1 Background and motivation 1.2 Bio-inspired flapping wing aircraft 1.3 Flapping-wing literature review 1.4 Scope and contributions of current research Chapter 2: Ornithopter test platform characterizations Abstract: 2.1 Mathematical representation of an aircraft 2.2 Ornithopter aircraft description 2.3 Measurements from flight data 2.4 Configuration-dependent mass distribution 2.5 Quasi-hover aerodynamics 2.6 Implications for flight dynamics modeling 2.7 Chapter summary Chapter 3: Rigid multibody vehicle dynamics Abstract: 3.1 Model configuration 3.2 Kinematic equations of motion 3.3 Dynamic equations of motion 3.4 Chapter summary Chapter 4: System identification of aerodynamic models Abstract: 4.1 System identification method 4.2 Tail aerodynamics 4.3 Wing aerodynamics 4.4 Chapter summary Chapter 5: Simulation results Abstract: 5.1 Software simulation architecture 5.2 Determining trim solutions 5.3 Numerical linearization about straight and level mean flight 5.4 Modeling implications for control 5.5 Chapter summary Chapter 6: Concluding remarks Abstract: 6.1 Summary of work 6.2 Summary of modeling assumptions 6.3 Summary of original contributions 6.4 Recommendations for future research Appendix A: Field calibration of inertial measurement units Appendix B: Actuator dynamics system identification Appendix C: Equations of motion for single-body flight vehicles Appendix D: Linearization of a conventional aircraft model References Index
Subject Areas: Aerodynamics [TGMF1]
