Construction of simulation model of a flying robot with variable attack angle mechanism

This paper discusses a simulation model of flying robots (developed in our previous paper) with a variable attack angle mechanism. The simulation model constructed in this paper are divided into three parts. The first part is a so- called attack angle model to compute the change of angle of attack. The second part is a so-called lift force model to compute lift force based on the computational result from the first part. In the second part, we compensate lift and drag coefficients with aero dynamical (experimental) data in previous studies on pitching (motion) wing since the variable attack angle mechanism realizes a pitching motion. The third part is a so- called power model to compute the electrical power of motors. The utility of the simulation model is verified by comparing simulation results with experimental results.