Vertical take-off is commonly adopted in most insect-mimicking flapping-wing micro air vehicles (FMAV) while insects also adopt horizontal take-off from the ground. The purpose of this paper is to study how insects adjust their attitude in such a short time during horizontal take-off by means of designing and testing an FMAV based on stroke plane modulation.
An FMAV prototype based on stroke plane rotating modulation is built to test the flight performance during horizontal take-off. Dynamic gain and decoupling mixer is added to compensate for the nonlinearity during the rotation angle of the stroke plane getting too large at the beginning of take-off. Force/torque test based on a six-axis sensor validates the change of aerodynamic force and torque at different rotation angles. High-speed camera and motion capture system test the flight performance of horizontal take-off.
Stroke plane modulation can provide a great initial pitch toque for FMAV to realize horizontal take-off. But the large range of rotation angles causes nonlinearity and coupling of roll and yaw. A dynamic gain and a mixer are added in the controller, and the FMAV successfully achieves horizontally taking off in less than 1 s.
The research in this paper shows stroke plane modulation is suitable for insect’s horizontal take-off
