Dynamic Modeling and Analysis of Fixed-Wing Micro Air Vehicle

概要

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This paper describes the dynamic modeling and analysis of a fixed-wing micro air vehicle (MAV). A nonlinear model for the MAV motion with six degrees of freedom is formulated first. Next, an extended version of the linear-time-invariant model for the MAV is derived by applying small perturbation theory and linearizing around an equilibrium flight condition. This ad hoc extended model for the MAV retains more terms that are generally neglected in mathematic models of conventional airplanes. To explore the stability and control characteristics, the aerodynamic derivatives required by dynamic modeling are evaluated using low-Reynolds-number wind tunnel testing data and some theoretical/empirical formulas. A fixed-wing MAV with a 15-cm wingspan successfully flown in 2002 is used as a baseline prototype for dynamic modeling and analysis. The longitudinal and lateral dynamic responses of the MAV under various conditions are demonstrated. The performance of the present extended MAV model is investigated by comparing the flight dynamics for different models. The simulation results show that the proposed extended model is consistent with the nonlinear dynamics model for a wider range of flight conditions. The present analysis may aid a better understanding of flight characteristics as well as design and analysis of MAV systems.