Title :
An Electromagnetic Actuator for High-Frequency Flapping-Wing Microair Vehicles
Author :
Roll, Jesse A. ; Bo Cheng ; Xinyan Deng
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
An electromagnetic actuator weighing 2.6 g and operated up to resonant frequencies in excess of 70 Hz is presented with the intended application to flapping-wing MAVs. Comprised of a single electromagnetic coil, a permanent magnet rotor, and a “virtual spring” magnet pair, system resonance is achieved using a periodic excitation voltage applied to the coil, resulting in harmonic wing motion. Analytical models describing the electrodynamic interactions of system components and flapping-wing aerodynamic mechanisms are used to develop the equations governing the system´s dynamics. Preliminary analysis based on simulation is used to build a working prototype from which further validation is conducted. Wing kinematics and mean lift measurements from the prototype demonstrated a lift-to-weight ratio of over one at 24 V. Based on a simplified equation of motion, approximate solutions for primary resonance mode and peak-to-peak (pk-pk) stroke amplitude were determined using the method of multiple time scales. Validated from frequency response experiments conducted on bioinspired test wings, these approximate solutions are used as a basis for an optimization framework. Finally, the developed framework is used to investigate the performance of the proposed actuator at different scales, predicting lift-to-weight ratios well above one for a wide range of the parameter space.
Keywords :
aerodynamics; aerospace components; aerospace control; autonomous aerial vehicles; coils; electrodynamics; electromagnetic actuators; microrobots; motion control; optimisation; periodic control; robot kinematics; voltage control; bioinspired test wings; electrodynamic interactions; electromagnetic actuator; equation of motion; flapping-wing MAV; flapping-wing aerodynamic mechanisms; frequency response experiments; harmonic wing motion; high-frequency flapping-wing microair vehicles; lift-to-weight ratio; magnet pair; mean lift measurements; optimization framework; peak-to-peak stroke amplitude; periodic excitation voltage; permanent magnet rotor; pk-pk stroke amplitude; resonance mode; resonant frequencies; single electromagnetic coil; system components; system dynamics; system resonance; time scales; virtual spring; wing kinematics; Actuators; Aerodynamics; Coils; Magnetic moments; Magnetomechanical effects; Rotors; Springs; Bioinspiration; electromagnetic actuation; flapping flight; microaerial vehicles;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2015.2409451