Modeling and Controls of Fluid-Structure Interactions (FSI) in Dynamic Morphing Flight

TL;DR

This paper improves an aerodynamic fluid-structure interaction model for a morphing drone, enabling precise 3D flight trajectory control through experimental calibration and simulation-based control strategies.

Contribution

It introduces a calibration method for the FSI model using experimental data and demonstrates its application for closed-loop 3D flight control of a morphing drone.

Findings

Successfully calibrated the FSI model with force-moment data.

Achieved controlled 3D banking turns in simulation.

Validated the model's potential for flight control applications.

Abstract

The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by Aerobat, which is a dynamic morphing winged drone. Building upon our previously documented Unsteady Aerodynamic model rooted in horseshoe vortices, we introduce a new iteration of Aerobat, labeled as version beta, which is designed for attachment to a Kinova arm. Through a series of experiments, we gather force-moment data from the robotic arm attachment and utilize it to fine-tune our unsteady model for banking turn maneuvers. Subsequently, we employ the tuned FSI model alongside a collocation control strategy to accomplish 3D banking turns of Aerobat within simulation environments. The primary contribution lies in presenting a methodical approach to calibrate our FSI model to predict complex 3D maneuvers and successfully assessing the model's potential for closed-loop flight control of Aerobat using an optimization-based collocation method.