Biologically inspired hovering flight stabilization for the flapping wings micro air vehicles

• Autorzy: Choromański P. , Sibilski K.

Warianty tytułu

PL

Biologicznie inspirowana stabilizacja zawisu mikrosamolotu napedzanego machającymi skrzydłami

• Języki publikacji: EN

Abstrakty

EN

MA V flight stability and control presents some difficult challenges. The low moments of inertia of MA Vs make them vulnerable to rapid angular accelerations, a problem further complicated by the fact that aerodynamic damping of angular rates decreases with a reduction in wingspan. Another potential source of instability for MA Vs is the relative magnitudes of wind gusts, which are much higher at the MA V scale than for larger aircraft. In fact, wind gusts can typically be equal to or greater than the forward airspeed of the MAV itself. Thus, an average wind gust can immediately affect a dramatic change in the vehicle's flight path. Other problem occurs with influence of flapping wings on MA Vs body motion. The birds and flying insects, the biological counterpart of mechanical MA Vs, can offer some important insights into how one may best be able to overcome these problems. Biological systems, while forceful evidence of the importance of vision in flight, do not, however, in and of themselves warrant a computer-vision based approach to MA V autonomy. Fundamentally, flight stability and control requires measurement of the MA Vs angular orientation. While for larger aircraft this is typically estimated through the integration of the aircraft's angular rates or accelerations, a vision-based system can directly measure the MA Vs orientation with respect to the ground. The two degrees of freedom critical for stability the bank angle and the pitch angle can be derived from a line corresponding to the horizon as seen from a forward facing camera on the aircraft. Therefore, we have developed a vision-based horizon-detection algorithm that lies at the core of our flight stability system.

PL

Celem pracy było opracowanie koncepcji detekcji położenia przestrzennego mikrosamolotu z machającymi skrzydłami (tzw. entomoptera) oraz przeprowadzenie szeregu eksperymentów numerycznych z wykorzystaniem modelu symulacyjnego. Koncepcja sterowania była inspirowana metodą wykrywania położenia przestrzennego spotykaną u owadów. Wiele gatunków owadów swoją orientację przestrzenną ustala wykorzystując organ zwany przyoczkami. Przyoczka są rodzajem czujników optycznych. Czujniki te łatwo zamodelować przy pomocy czterech fotodiod umieszczonych na piramidalnym statywie. Fotodiody te mierzą natężenie światła w otoczeniu owada. W pracy przedstawiono uproszczony model matematyczny entomoptera, oraz zaprezentowano rozważania dotyczące efektywności detekcji położenia za pomocą pomiaru natężenia światła. Podano także matematyczny model przyoczek. Następnie przedstawiono wyniki badań symulacyjnych dowodzących efektywności przyoczek. Symulacje prezentujące przebiegi odpowiednich sygnałów przeprowadzono wykorzystując program MATLAB.

Słowa kluczowe

EN

hovering flight stabilization; flapping wings micro air vehicles

PL

stabilizacja zawisu mikrosamolotu; mikrosamolot napędzany machającymi skrzydłami

• Wydawca: Wydawnictwa Naukowe Sieci Badawczej Łukasiewicz - Instytutu Lotnictwa
• Czasopismo: Prace Instytutu Lotnictwa
• Rocznik: 2005
• Tom: Nr 4 (183)
• Strony: 75--91
• Opis fizyczny: Bibliogr. 49 poz., rys., wykr., wzory

Twórcy

autor

Choromański P.

• Białystok Technical University

autor

Sibilski K.

• Białystok Technical University

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