Compared with the tailless flapping wing micro air vehicle (FMAV), the tailed FMAV has a simpler structure and is easier to\ncontrol. However, although biplane FMAVs with tails have been used for flight control in practice for a long time, a theoretical\nmodel of the tailed FMAV has not previously been established. In this paper, we report modeling of the longitudinal dynamics of\na tailed biplane FMAV using the Newton-Euler equations. In this study, the vehicle was trimmed and linearized near its hovering\nequilibrium, assuming small disturbances.Then the stability of the hovering FMAV was analyzed with a modal analysis method.\nA state feedback controller was synthesized to stabilize the disturbance. Finally, we investigated the flight control of the tailed\nbiplane FMAVwith different control signals. Our results show that the natural-motionmode determines the oscillation divergence\ncharacteristics of the tailed FMAV, amode that can be suppressed with the state feedback controller by real-timemodulation of the\ntail. The tail can also be used to achieve different flight modes with different control-signal functions. The tailed FMAV cruises in\na line when the tail is controlled with a step function and spirals in an elliptical trajectory in the longitudinal plane when the tail is\ncontrolled by a sinusoidal function. Our longitudinal- dynamics model provides an analytical basis for further dynamic analyses of\nthe tailed FMAV, as well as the corresponding controller synthesis. Moreover, the proposed attitude stabilization and flight control\nschemes for the vehicle near hovering provide a basis for developing practical uses of the tailed FMAV.
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