Modern flexible multi-body dynamics modeling methodology for flapping wing vehicles

Modern Flexible Multi-Body Dynamics Modeling Methodology for Flapping Wing Vehicles......Page 1
Copyright......Page 2
Dedication......Page 3
Preface......Page 4
List of Figures......Page 5
List of Tables......Page 11
Roman Symbols......Page 12
Capital Roman Symbols......Page 13
Greek Symbols......Page 15
Acronyms......Page 16
Acknowledgments......Page 18
Summary......Page 19
Six. Results of the Modeling Methodology Implementation and Flight Simulation......Page 20
1.3 A Model of an Ornithopter for Performance Optimization......Page 23
1.3.1 Desired Improvements in Flight Platforms......Page 25
1.3.2 Background and Flapping Wing Flight Aerodynamics......Page 26
1.3.2.1 Motion Profile and Wing Gates......Page 29
1.3.2.2 Wing Flexibility......Page 31
1.3.2.3 Wing Geometry......Page 32
1.4 Historical Considerations for Bioinspired Flapping Wings Avian Flight and Robotics......Page 33
1.5 Objectives in the Development of Flexible Multi-Body Dynamics the Modeling Methodology Described in This Body of Work......Page 37
References......Page 38
2.1.1 The Classification of Flexible Multi-Body Systems......Page 41
2.1.2 Flexible Multi-Body Dynamics Modeling......Page 44
2.1.3 The Implementation in Available Code and Software......Page 46
2.1.4 The Vehicle Dynamics Modeling of Ornithopter......Page 50
2.1.5 An Aeroelastic Analysis of Flapping Wing Vehicles......Page 53
2.1.6 Related Avian Scale Aerodynamics and Models......Page 55
2.2 Modern Modeling Methodology......Page 62
References......Page 65
3.1 Details of the Test Platform......Page 69
3.2.1 The Clamped Test Experiment—E1......Page 75
3.2.1.1 Results of Experiment and Integrated Forces—E1......Page 76
3.2.2 The System-ID Experiment—E1-I......Page 79
3.2.3 Free-Flight Experiment—E2......Page 81
3.2.3.1 Results for Wing Kinematics—E-2......Page 84
3.2.3.1.1 Total Forces—E2......Page 86
3.2.4.1 Integrated Inertial Forces—E3......Page 89
References......Page 90
Four. Flexible Multi-Body Dynamics Modeling Methodology Implementation Avian Scale Flapping Wing Flyer......Page 91
4.2 The Five-Body Multi-Body Dynamics Model......Page 97
4.3 Relevant Coordinate Systems......Page 98
4.4 An Underlying Articulated Rigid-Body Model......Page 100
4.4.1.1 Angular Velocity......Page 101
4.4.1.2 Linear Velocity......Page 103
4.5.2 Potential Energy Formulation......Page 104
4.5.3 The Position Vector and Rigid-Body Equations of Motion......Page 107
4.5.4 The Position Vector and Flexible Body Equations of Motion......Page 108
4.6.1 The Model Generalized Coordinate Vector......Page 109
4.6.2 Position Vector in the Model......Page 111
4.6.4 Model Orientation......Page 113
4.6.5 Angular Velocity......Page 115
4.6.6 Inertia Invariants in Mass Matrix......Page 116
4.6.7 The Craig–Brampton Method......Page 117
4.6.8 A Modal Synthesis Method and Mode Shape Orthonormalization......Page 119
4.7 Structural Dynamics Model of the Wings......Page 121
References......Page 124
5.1 The Aerodynamic Model Versions Formulated......Page 126
5.2 Aero-Model A......Page 129
5.3 Aero-Model B/C......Page 130
5.3.1 Aerodynamic Model......Page 131
5.3.2 Aero-Load Blade Element Identification......Page 133
5.4 The Aerodynamic Model Implementation......Page 134
5.4.1 Distributed Aerodynamic Loads......Page 139
5.5.1 Generalized Force Definition......Page 141
5.5.3 Generalized Modal Force Definition......Page 143
References......Page 144
7.2.1 The Vehicle Dynamics Model of Ornithopter......Page 145
6.1.1.1 Zero Deflection Reference Plane......Page 146
6.1.1.2 Quantification Wing Flexibility......Page 147
6.1.2 Large Global Deformations......Page 148
6.1.3 Wing Fixed Reference Frames......Page 149
6.1.4 Leading Edge Spar Flexibility......Page 157
6.2 Model Results......Page 159
6.3.1 Integrated Forces of the Avian Flight Robotic System......Page 160
6.3.2 Wing Tip Kinematics......Page 161
6.4.1 Integrated Forces......Page 163
6.4.2 Wing Inertia Forces......Page 164
6.4.3 Inertia Invariants......Page 166
6.4.4 Aerodynamic Forces......Page 167
References......Page 169
7.1 Summary of Modern Modeling Methodology Development and Implementation......Page 170
7.2 Scope and Contributions Resulting From Modern Modeling Methodology Implementation Described in This Book......Page 171
7.2.2 The Aerodyamics Model and Aeroelasticity......Page 172
7.2.4 An Understanding of Flight Physics and Dynamics......Page 173
7.3 Summary of Novel Contributions Resulting From Modeling Methodology......Page 174
7.4 Summary of Conclusions About the Modern Modeling Methodology......Page 175
7.5 Summary of Recommendations for Modeling of Avian Scale Flapping Wing Flyers......Page 176
B......Page 177
F......Page 178
G......Page 179
M......Page 180
V......Page 182
Z......Page 183