Wing Shape and Wing Pitching Kinematics Optimization for Effective Roll of a FWMAV (poster)

Wing Shape and Wing Pitching Kinematics Optimization

for Effective Roll of a FWMAV

Hugo Peters, Hans Goosen and Fred van Keulen

Structural Optimization & Mechanics, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands DevLab, Development Laboratories, Horsten 1, MMP 0.10, 5612 AX Eindhoven, The Netherlands

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Introduction

p High interest in energy-effective ways to control the roll of (resonating) FWMAVs using asymmet-ric wing kinematics.

p A semi-empirical quasi-steady aerodynamic

model[1] _{is used to determine the aerodynamic}

loads on the wing during the flapping motion.

p Chord lengths, c_r , and pitch amplitudes, η_m , of the individual, separated wing strips are the de-sign varables ⇒ potentially warped wings.

Wing pitching angle:

η(t)

Typical FWMAV wing planform:

1 2 . . n r = 1, 2, . . . , n c_r wingroot rigid leading edge chord length Flapping kinematics

Sweeping angle: _{φ(t) = φm sin(2πf t)}

Pitching angle: η(t) = η_m sin(2πf t + Φ_η) + η₀

Design variables:

c_r & η_m

Power effective

hovering flight

Effective roll using

_{asymmetric kinematics}

Sensitivity of lift force to

kinematical parameters

Power: Power_aero + Power_inertia = 0

Different wing designs, similar performance! wing span, r [mm] 0 10 20 ₃₀ 40 50 chord length, cr [mm] 0 10 20 pitch amplitude ,ηm [deg] 90 70 50 30 Lift: 0.01 [N], Power: 0.038 [W] wing span, r [mm] 0 10 20 30 40 50 chord length, cr [mm] 0 10 20 pitch amplitude ,ηm [deg] 90 70 50 30 Lift: 0.01 [N], Power: 0.040 [W]

In the wing designs below:

∆P _{≈ 7, 0%} ∆¨θ _{≈ 22, 6%} Roll acceleration improvement wing span, r [mm] 0 10 20 ₃₀ 40 50 cr [mm] 0 10 20 ηm [deg] 90 70 50 30 Lift: 0.01 [N], Power: 0.041 [W] wing span, r [mm] 0 10 20 30 40 50 cr [mm] 0 10 20 ηm [deg] 90 70 50 30 Lift: 0.01 [N], Power: 0.044 [W] ηm [deg] 35 55 75 cr [mm] 25 20 15 10 5 1 0 −1 To sweep amplitude: ∂F_l ∂φm Maximum sensitivity: 0.035 ηm [deg] 35 55 75 cr [mm] 25 20 15 10 5 1 0 −1 To pitch amplitude: ∂F_l ∂ηm Maximum sensitivity: −0.027 ηm [deg] 35 55 75 cr [mm] 25 20 15 10 5 1 0 −1 To pitch phase offset: ∂F_l ∂Φη Maximum sensitivity: 0.01

Results & Conclusions

o Multiple designs, similar performance: freedom.

o The improvement of the roll effectiveness goes

with an increase in power consumption.

o Wing design depend on FWMAV control options.

References

[1] G.J. Berman and Z.J. Wang (2007)

[2] H.J. Peters, J.F.L. Goosen and F. van Keulen (2012)