Efficient aerodynamic modeling and load analysis for large flapping-wing flying robot considering structural flexibility and inertial forces

Abstract The enhanced computing power of the onboard flight control system and the low flapping frequency have made real-time position and attitude control possible for large flapping-wing flying robots (LFWFRs). Therefore, it is necessary to design an efficient flapping load calculation method to provide the load situation of the flapping wings. To address this problem, we establish a three-dimensional aeroelastic model by coupling the finite element method and state-space airloads theory. This model considers the interaction between aerodynamic loads, inertial loads, and flapping-wing structural elasticity during the flapping motion, which could quickly calculate the instantaneous aerodynamic loads and inertial loads of flapping wings under different flight conditions. The accuracy of the model was verified through vacuum and wind tunnel experiments. Experiments under various flight conditions demonstrate the effectiveness and reliability of the proposed method, and the method could be used to guide the rapid iterative upgrade and control law design of LFWFRs.