2節関節翼オーニソプターのロール制御と動力学モデル

原文アブストラクト

This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter supposed to go left now go right instead. This research gives a qualitative dynamics model which explains this new phenomenon. Because of wing folding, the differential rotation of outer-section wing (analogues to aileron in plane, left aileron up and right aileron down make left turn) around pitch axis becomes common mode rotation around yaw axis,leading its rotating torque changing from left-handed rotation (using left-handed as example, right-handed is the same) around roll axis to a common mode force pointing to front-right (northeast, NE) direction from first player's view of the ornithopter.Because most of the flapping movement is in the upper hemisphere from ornithopter's view, the NE force is above on the center of mass of the orthopter, generating a right-handed moment around roll axis. Therefore, the ornithopter supposed to go left now goes right. This phenomenon is a unique and only observed in two section articulated-wing ornithopter by far. Many field tests conducted by authors confirm it is highly repetitive.