Design and Flight Experiment of a Motor-Directly-Driven Flapping-Wing Micro Air Vehicle with Extension Springs

This study presents the design, control, and flight experiments of a motor-directly-driven flapping-wing micro air vehicle with extension springs (MDD-FWMAVES). The flapping wing actuation utilizes the resonance of a linear extension spring and a flapping wing. The analysis results of the proposed MDD-FWMAVES revealed a resonant frequency of 19.59 Hz for the flapping-wing mechanism, and actual flapping experiments confirmed this to be 20 Hz. Using a six-axis load cell, we demonstrated the ability to generate roll, pitch, and yaw moments for attitude control based on wing flapping variations. All roll, pitch, and yaw moments were linearly proportional to the wing flapping variations. MEMS gyroscopes and accelerometers were used to measure roll, pitch, and yaw angular velocities and the gravity. A complementary filter was applied to these measurements to obtain the roll and pitch angles required for attitude control. A microprocessor, two motor drive circuits, one MEMS gyroscope/accelerometer, and one EEPROM for flight data storage were implemented on a single, ultra-compact electronic control board and mounted on the MDD-FWMAVES. Simple roll and pitch PD controllers were implemented on this electronic control board, and the controlled flight feasibility of the MDD-FWMAVES was explored. Flight tests demonstrated stable hovering for approximately 6 s. While yaw control was not achieved, the onboard feedback control system demonstrated stable roll and pitch control. Therefore, the MDD-FWMAVES holds the potential to be developed into a high-performance flapping-wing micro air vehicle if its flight system and controller are improved.