Control System Mathematical Model Design of Ornithopter Flapping Wing Unmanned Air Vehicle for Agile Performance

摘要

In recent unmanned air vehicle technologies, flapping wing ornithopter have become interest of commercial companies and researchers of many top ranked firms working on robotics due to agility, propulsive efficiency and capability of flying at low speed with low noise at high speed. Flapping wing air vehicles, due to their key utilization in military, commercial purposes like spying, surveillance, smart search operations and scaring the birds away from the airports, are being explored and advancement is being done in many research firms and control systems lab. In this paper, control system mathematical model. which includes the height, yaw, roll and pitch equations has been developed. Nonlinear equations, linearization and control system matrix formation has been included in the research. In order to apply the control system algorithm practically on the ornithopter, test benches were manufactured and controller were applied for stabilization of the flapping wing unmanned air vehicle. Algorithms and hardware controlling the flapping wing air vehicle are encompassed in this research with high end ground control station developed in LabVIEW software.