Stability of a Flapping Wing Micro Air Vehicle Marc Evan MacMaster A thesis submitted in conformity with the requirements for the degree of Masters of Applied Science Graduate Department of Aerospace Science and Engineering University of Toronto 0 Copynpynghtby Marc MacMaster 2001 Acquisitions and Acquisitions et Bibbgraphic Se~ices seMeas bibliographiques The author has grauteci a non- L'auteur a accordé une licence non exclusive Licence aiiowing the exclusive permettant à la National Li- of Canada to Bibliothèque nationale du Canada de reproduce, loan, distribute or seii reproduire, prêter, distriiuer ou copies of this thesis m microfom, vendre des copies de cette thèse sous papa or ekcîronic fomats. Ia forme de microfichelf;ilm,de reproduction sur papier ou sur format électronique. The author retains ownershfp of the L'auteur conserve la propriété du copyright in this thesis. Neither the droit d'auîeur qai protège cette thèse. thesis nor substantid extracts tiom it Ni la thèse ni des extraits substantiels may be printed or othewise de celle-ci ne doivent être imprimés reproduced without the anthor's ou autrement reproduits sans son permission. autorisation. Stability of a Flapping Wing Micro Air Vehicle Masters of Appiied Science, 2001 Marc Evan MacMaster Graduate Department of Aerospace Saence and Engineering University of Toronto Abstract An experimental investigation into the stabiiii of a flappiug wing micro air vehicle was perfomied at the University of Toronto Institute for Aerospace Studies. A thtee-degree of Wom force balance was designed and constnicted to measure the forces and moments exhibiteci by a set of flapping wings through 180' of rotation at varied fiee-stream velocities. The same apparatus was ah used to test two tail configurations. A two-dimensional simulation program was wtitten using MA'IZAB software to ident* stable whicle configurations at or near the hoveiliig condition. A total of four case studies were performed, and each revealed the vehicIe had inherent stabiiity. The presence of a tail on the vehicle produced only margmal effects. Of crucial importance was the placement of the vehicle center of gravity with respect to the wings. A preferred distance of 3.5 cm hmthe c.g. to the leading edge ofthe whgs allowed for stable flight under ali cases studied. Acknowledgements Many individuals need to be thanked for their time and guidance during the course of this research. Wiut them I do not beiieve that 1 could ever have completed this research on my own, First, I would like te *hdcMr. Dave Loewea Wiiut his input and experience, the work completed herein could wt even have been started His patience in keeping me fiom hbling about the workshop was much appreciated. Dr. James DeLaurier also deserves much credit for adding his wealth of knowledge and experience in supervishg my work. His office door always seemed to be open, and he was ever prepared to mermy questions and provide solutions to my pro blems hstinstantly. Patrick Zdunich and Derek Bilyk were two ikiends and members of the MAV project for whom i couid always rely on for advice and judgement- They never seemed to be bothered by my occasional questions, and were remarkably patient. A special thanks goes to Patrick for the use of his wind tunnel for my testing. I am especially gratetlll to the Ming hmboth UTIAS and the MAV pmject. Wiiout their contniutions I could never have afEorded to pursue my Master's degree, and in tum wouid have lost the great experience C had during my studies. Finally, 1 wouid like to acknowledge my fbkh m God 1 do not think the stniggks that arose both inside and outside my studies over the past 18 months couid ever have been overcome without a steadfàst devotion to Him. Table of Contents .. Absrnet ...................H .......... ."....-... U **- A~knowledgememts....... .. ......................................... ............... ........................... UI Table of Cmtenîs ... ...... .. ...... .. ............................. ................................................. N ... List of Figures............................................................................................................. VIII List of Tabh........................................................................................................ .. ...... xi Chapter 1: Introduction ................................................................................................1 1.1 MAV Project at UTIAS ....-..... ............... ................. .............. ......... i 1.1.1 Roject Background......... ., .....,.. .......................................................... 1 1.1.2 ResearchObjectives................................................................................... 3 1.1.3 Year 3 hject Metamorphosis ................................................................... 4 1.1.4 About the Vehicle Components Used ......................................................... 5 Chapter 2: Force BaIance Design ..................................................................................9 2.1 Rationale for Sekcted Design .......... ........ .. ......... ... .................... ................ 9 22 Design Sperifiertioas ...,.,, ......,.,.,,... .. .................. ....... 10 72.1 How it Works .......................................................................................... IO 2.2.2 Axes System ............................................................................................ 12 . 22.3 Design Adjusbbd ity................................................................................. 13 2.2.4 merDetails .......................................................................................... 14 23 BaianceCalibrati6n........................................ .................... 17 23.1 Mependent Gauge Caliition................................................................ 17 2.32 Complete System Caliaration ................................................................... 18 2.3.3 Performance Verification ......................................................................... 19 Chcrpter 3: Wnd Tunnel Calibmtion ........................................................................... 23 3.1 Wiid Tunnel Detaib .................................................................................23 3.2 Wind Tunnel Caübration ..........................................................................24 3.2.1 Initial Resuhs ........................................................................................... 24 3 22 Revised Design ........................................................................................ 24 3.2.3 Calibration Procedure .............................................................................. 26 Chapter 4: Ekperimenls ............................................................................................... 29 4.1 Wing Testing Procedure .., .................. .. .............................................. 29 4.1.1 Methodology ............................................................................................ 29 4.1.2 Taring ...................................................................................................... 34 4.2 Tai1 Testing Procedure ...........................................................................39 4.2.1 Tai1 Design ............................................................................................ 39 4.2.2 Methodology ........................................................................................... 41 Chapter 5: Experimental Results ............................................................................... 43 5.1 Wings.......................................................................................................... 43 . 5.1.1 Repeatabriity ............................................................................................ 43 5.1 2 Longitudinal (2-axis)Forces .................................................................... 44 5.1.3 Lateral (X-mis) Forces ............................................................................ 48 5.1.4 Moments (about Y-axis)........................................................................... 49 52 Taib ............................................................................................................51 5.2.1 Results ..................................................................................................... 51 53 Ampliticition of ûah .........................." .............. 52 5.3.1 Z Forces ................................................................................................... 52 5.3.2 X Forces ad Y Moments ......................................................................... 56 5.4 Cornparison ta hsumed Vahes ..........m.......m.... .................................. 58 Chopter 6: 2-0 Simulation .......................................................................................... 62 6.1 Numerid Mode1 ..................W.............. ............... .................................... 62 6.1.1 Application of Newton's Laws ........................................................ 62 6.1.2 Lookup Tables ................... .. ........................................................... 64 6.1.3 Numerical Procedure.............................................................................. 64 6.2 Initial Results ............................. ..................Do ...... ...........................71 . 6.2.1 Simple Hovering Condition............ .... .......................................