Un modelo multicuerpo para estudiar la dinámica de micro vehículos aéreos de alas batientes. (Dynamics of Micro-Air-Vehicles with Flapping Wings: A Multibody System Approach)

Bruno Antonio (broccia@ing.unrc.edu.ar), Cristian Guillermo (cggebhardt@yahoo.com.ar)



This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2013
Volume: 11,   Issue: 1 
ISSN: 1548-0992


Abstract:
This paper presents the development of a dynamic model to study the flight mechanics of a micro-air-vehicle with flapping wings. This model is based on Lagrange's equations for constrained systems. The micro-air-vehicle is modeled as a collection of three rigid bodies a central body and two wings. The wings have prescribed motions relative to the central body, i.e., they are kinematically driven. The numerical integration of all the governing equations, which are differential-algebraic, is performed simultaneously and interactively in the time domain. The integration scheme couples a 4th-order predictor-corrector method, the modified method of Hamming, with a procedure to stabilize the resulting differential-algebraic equations.

Index Terms:
multibody system, MAV, flapping wings   


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