• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.153-158
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• 1992

The purpose of this paper is to calculate the dynamic derivatives of single rotor Helicopter in forward flight. From trim condition, the equation of motion is derived, and we can calculate the dynamic dervatives. The results were compared with flight test data. The phase angle and stick displacement are obtained and compared at the trim condition.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.2
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• pp.82-94
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• 2001

The purpose of this paper is to analyze the static and dynamic stability-of the unmanned airship under development ; the target airship's over-all length of hull is 50m and the maximum diameter is 12.5m. For the analysis, the dynamic model of an airship was defined and both the nonlinear and linear dynamic equations of motion were derived. Two different configuration models (KA002Y and KA003Y) of the airship were used for the target model of the static stability analysis and the dynamic stability analysis. From the result of analyses, though the airship is unstable in static stability, dynamic characteristics of the airship can provide the stable dynamic stability. All of the results, airship models and dynamic flight equations will be an important basement and basic information for the next step of developing the automatic flight control system(AFCS) and the stability augmentation system(SAS) for the unmanned airship as well as for the stratospheric airship in the future.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.916-924
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• 2008

In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.142-143
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• 2008

In the present work, high-speed video images of the ground take-off flight of a live butterfly were captured and their dynamic motions during the first full-stroke were analyzed. To capture the dynamic images of the take-off motion, the experimental setup consisted of a high-speed camera, a Xenon lamp as a light source and a transparent chamber of $15^W{\times}15^L{\times}17^H$ $cm^3$ in physical size. The ambient temperature and supplementary lighting devices were precisely controlled. The weight and wing span of the butterfly tested in this study was 104 mg and 63.14 mm, respectively. The ground take-off images were captured with 4000 fps with a spatial resolution of (1024${\times}$512) pixels. The period of the first full-stroke was 80.5ms and the flapping speed of downstroke was 2 times faster than that of upstroke. As a result, butterflies used the fling and near-clap motion to generate lifting force and an interesting take-off behavior of early pronation and downstroke was observed.

• Aerospace Engineering and Technology
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• v.9 no.2
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• pp.105-115
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• 2010

This technical paper describes and summarizes the flight test results for the longitudinal and lateal-directional dynamic stability characteristics. The target aircraft is the 4-seat carnard type aircraft, FireFly, which has been developed by KARI. Airborne sensors and real-time telemetry system are constructed to obtain the flight test data. The dynamic stability characteristics should be analyzed and tested by estimaitng the aerodynamic parameters in the dymaic equations of motion. The maximum likelihood estimation technique has been applied to the flight data from chirp, 3211, and doublet control inputs.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.152-161
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• 2013

This paper presents a control effectiveness analysis of the hawkmoth Manduca sexta. A multibody dynamic model of the insect that considers the time-varying inertia of two flapping wings is established, based on measurement data from the real hawkmoth. A six-degree-of-freedom (6-DOF) multibody flight dynamics simulation environment is used to analyze the effectiveness of the control variables defined in a wing kinematics function. The aerodynamics from complex wing flapping motions is estimated by a blade element approach, including translational and rotational force coefficients derived from relevant experimental studies. Control characteristics of flight dynamics with respect to the changes of three angular degrees of freedom (stroke positional, feathering, and deviation angle) of the wing kinematics are investigated. Results show that the symmetric (asymmetric) wing kinematics change of each wing only affects the longitudinal (lateral) flight forces and moments, which implies that the longitudinal and lateral flight controls are decoupled. However, there are coupling effects within each plane of motion. In the longitudinal plane, pitch and forward/backward motion controls are coupled; in the lateral plane, roll and side-translation motion controls are coupled.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.1-6
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• 2015

This paper investigates the longitudinal flight dynamics and stability of flapping-wing micro air vehicles. Periodic external forces and moments due to the flapping motion characterize the dynamics of this system as NLTP (Non Linear Time Periodic). However, the averaging theorem can be applied to an NLTP system to obtain an NLTI (Non Linear Time Invariant) system which allows us to use a standard eigen value analysis to assess the stability of the system with linearization around a reference point. In this paper, we investigate the dynamics and stability of a hawkmoth-scale flapping-wing air vehicle by establishing an LTI (Linear Time Invariant) system model around a hovering condition. Also, a direct time integration of full nonlinear equations of motion of the flapping-wing micro air vehicle is conducted to see how the longitudinal flight dynamics appear in the time domain beyond the reference point, i.e. hovering condition. In the study, the flapping-wing air vehicle exhibited three distinct dynamic modes of motion in the longitudinal plane of motion: two stable subsidence modes and one unstable oscillatory mode. The unstable oscillatory mode is found to be a combination of a pitching velocity state and a forward/backward velocity state.

• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.151-158
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• 2009

To implement the insects' flapping flight for developing flapping MAVs(micro air vehicles), the unsteady flow characteristics of the insects' forward flight is investigated. In this paper, two-dimensional FSI(Fluid-Structure Interaction) simulations are conducted to examine realistic flow features of insects' flapping flight and to examine the flexibility effects of the insect's wing. The unsteady incompressible Navier-Stokes equations with an artificial compressibility method are implemented as the fluid module while the dynamic finite element equations using a direct integration method are employed as the solid module. In order to exchange physical information to each module, the common refinement method is employed as the data transfer method. Also, a simple and efficient dynamic grid deformation technique based on Delaunay graph mapping is used to deform computational grids. Compared to the earlier researches of two-dimensional rigid wing simulations, key physical phenomena and flow patterns such as vortex pairing and vortex staying can still be observed. For example, lift is mainly generated during downstroke motion by high effective angle of attack caused by translation and lagging motion. A large amount of thrust is generated abruptly at the end of upstroke motion. However, the quantitative aspect of flow field is somewhat different. A flexible wing generates more thrust but less lift than a rigid wing. This is because the net force acting on wing surface is split into two directions due to structural flexibility. As a consequence, thrust and propulsive efficiency was enhanced considerably compared to a rigid wing. From these numerical simulations, it is seen that the wing flexibility yields a significant impact on aerodynamic characteristics.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.5
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• pp.46-55
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• 2006

In general, 3-dimensional point-mass equation has been widely used for the trajectory optimization of the fixed-wing aircraft and reentry vehicle. But it should be modified and represent target vehicle's own characteristics. For a lighter-than-air vehicle such as an airship, there exists different and peculiar flight characteristics compared with the aircraft. The first part of this paper is to derive the dynamic equation of motion for the mid-altitude unmanned airship and the second part is to obtain the optimal trajectories under the minimal time flight given constraints. The trajectory optimization problem is converted into the nonlinear programming problem using Sequential Quadratic Programming approach. Finally numerical solutions are presented in the last part of the paper.

• Aerospace Engineering and Technology
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• v.7 no.2
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• pp.31-37
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• 2008

Flight-test is necessary at the identification of dynamic model of flight vehicle. A commonly faced problem is that once the flight-test instrumentation system is difficult to reschedule in the vehicle at the end of the test. This paper identified the parameter of dynamic model of vehicle using measurement data of non-flight test. The identification algorithm is based on frequency response identification method (CIFER) dealing with a longitudinal motion of Smart UAV 40% scale.