Modeling and linearization of longitudinal dynamics for a flapping wing micro aerial vehicle dragonfly-like with active rigid tail

The main purpose of this paper is to model and simulate flight dynamics for a flapping wing micro aerial vehicle dragonfly-like with two pair clap and fling mechanism and active rigid tail. This article simulates the flight dynamics of a micro aerial vehicle dragonfly-like that can also use tail movements for longitudinal stability. Initially, using Kane's method, the equations of motion of the longitudinal mode are obtained. Then aerodynamics forces of Delfly II micro aerial vehicle and gearbox simulation are added to the equations of motion. Also, a novel design for a flapping wing micro aerial vehicle dragonfly-like is presented, in which tail movement is similar to the movement of insect tails in longitudinal mode. In this work, the tail movement is not used as an elevator, but the rigid tail movement is used as a control torque. The difference in brush motor rpm leads to differential thrust and pitch moment generation, similar to a quadrotor. Finally, the dynamic equations and aerodynamics and gearbox are all linearized and presented as state-space equations. Also, the response of the open-loop linearized model is compared with the nonlinear response by creating suitable initial conditions for the brush motor rpm.