The flight of unmanned aerial vehicles (UAVs) has numerous associated challenges. Small size is the major reason of their sensitivity towards turbulence restraining them from stable flight. Turbulence alleviation strategies of birds have been explored in recent past in detail to sort out this issue. Besides using primary and secondary feathers, birds also utilize covert feathers deflection to mitigate turbulence. Motivated from covert feathers of birds, this paper presents biologically inspired gust mitigation system (GMS) for a flapping wing UAV (FUAV). GMS consists of electromechanical (EM) covert feathers that sense the incoming gust and mitigate it through deflection of these feathers. A multibody model of gust-mitigating FUAV is developed appending models of the subsystems including rigid body, propulsion system, flapping mechanism, and GMS-installed wings using bond graph modeling approach. FUAV without GMS and FUAV with the proposed GMS integrated in it are simulated in the presence of vertical gust, and results’ comparison proves the efficacy of the proposed design. Furthermore, agreement between experimental results and present results validates the accuracy of the proposed design and developed model.
Modeling and Simulation of Nonlinear Dynamics of Flapping Wing Micro Air Vehicles
