1. (Brieuc.Danet@onera.fr) 4th European Micro-UAV Meeting
REMANTA REsearch program on Micro Aerial vehicle and New Technologies Application
Brieuc DANET
4th European Micro-UAV Meeting
Toulouse, 15th September 2004

2. Objectives of the Research Program
Topic 1 : Experimental Aerodynamics
Topic 2 : Flight Mechanics and Control
Topic 3 : Materials, Structures, Actuators
Continuation of the Project

3. Objective: Feasability and interest of a flapping-wing MAV
1. Objectives
Objective: Feasability and interest of a flapping-wing MAV
Caracteristics of the vehicle:
Small size : wing span < 15 cm
Mass ~ 100 g
Ability of stationary flight
Large autonomy

4. Biomimetism Understand the phenomena that permit animals to fly
1. Objectives
Biomimetism
Understand the phenomena
that permit animals to fly
Find accurate technical solutions
Copying nature is not the right way
(multipurpose aspect of parts of the body)

5. Large interactions between the domains
1. Objectives
Scientific and technological challenge:
Low Reynolds aerodynamics  Numerous complex unsteady phenomena (dynamic stall, wake capture)
Control and command of wing
kinematics in cruise, stationary  Unusual flight dynamics
flights and manoeuvers
Huge influence of mass  Light materials
Flexible structures  Aeroelasticity
High frequency sollicitations  Accurate actuators
Large interactions between the domains

6. Topic # 1: Experimental Aerodynamics

7. - qualitative: observe and describe to understand phenomena
2. Topic #1: Experimental Aerodynamics
2 objectives:
- qualitative: observe and describe to understand phenomena
 Visualizations of aerodynamic flows
- quantitative: correlate wing kinematics with sustentation
and propulsion to feed models with empiric data
 Measurements of aerodynamic forces and torques

8. Experiments in the air: - Uneasy visualizations
2. Topic #1: Experimental Aerodynamics
Experiments in the air:
- Uneasy visualizations
- Inertial forces >> Aerodynamic forces i.e. difficult analysis of measures
Experiments in water with conservation of :
Reynolds number ( )
and reduced frequency ( )

9. Facilities Lille: Water Tank - Section H1.5m x W1.5m x L25m
2. Topic #1: Experimental Aerodynamics
Facilities
Lille: Water Tank
- Section H1.5m x W1.5m x L25m
- V (moving platform) = 0.1 to 1 m/s
- Injection of dyed liquid.

10. Facilities Toulouse: Water Tunnel - max Flow rate 20 l/s (slaved)
2. Topic #1: Experimental Aerodynamics
Facilities
Toulouse: Water Tunnel
- max Flow rate 20 l/s (slaved)
- Section up to H500xP600 (V=13 cm/s)
- Slaved and controlled dyed liquid injection (flow rate and position)

11. Testing conditions NACA 0012 Profile (not optimal but well documented)
2. Topic #1: Experimental Aerodynamics
Testing conditions
Re ~
NACA 0012 Profile (not optimal but well documented)
Realization of a coupled mechanism
2D : plunging and pitching 3D : flapping and pitching
Application: cruise flight
Measurements: - 5 components balance (no axial component) for measurement of forces and torques and evaluations of Cx, Cz,…
- Image acquisition. Laser Tomography

12. 2. Topic #1: Experimental Aerodynamics
2D Mechanism

13. 2. Topic #1: Experimental Aerodynamics
3D Mechanism

14. 2. Topic #1: Experimental Aerodynamics
Mechanism installed on the wall
Coupled Mechanism

15. 2. Topic #1: Experimental Aerodynamics
2 testing campaigns (2003 & 2004): More than 800 tests (3D and quasi-2D)

16. 2. Topic #1: Experimental Aerodynamics
Results

17. Visualizations f = 0.5 Hz ; U = 0 m/s f = 0.5 Hz ; U = 0.25 m/s
2. Topic #1: Experimental Aerodynamics
Visualizations
f = 0.5 Hz ; U = 0 m/s
f = 0.5 Hz ; U = 0.25 m/s

18. Topic # 2: Flight Mechanics and Control

19. Unusual Flight Mechanics
3. Topic #2: Flight Mechanics and Control
Unusual Flight Mechanics
Model based on the flight analysis of insects and birds
Cruise and hovering flights
Linear model + unsteady effects (Dynamic delayed stall, etc)
Use of aerodynamic data issued from experiments (open literature and ONERA )

20. Topic # 3: Materials, Structures, Actuators

21.  Concepts inspired by nature
4. Topic #3: Materials, Structures, Actuators
- Selection, elaboration and characterization of light materials
(composites carbon/epoxy)
- Modelization of structures under high frequency requests with aero coupling
- Search of actuators adapted to kinematics
 Concepts inspired by nature

22. Light Materials 4. Topic #3: Materials, Structures, Actuators
Terphane 29 m
Composite T300/914
Total Mass: 0,6 g
60 mm
frequency : 30 Hz
distance between supports : 10 mm
deformation : +/- 0,1 or 0,2 or 0,4 mm
Flexion tests :

23. Structures Assumptions: ROTOR code (D. Petot) 3D mechanism
4. Topic #3: Materials, Structures, Actuators
Structures
Calage
Wing
Assumptions:
ROTOR code (D. Petot)
3D mechanism
Rotation simulates forward flight
Decoupled joints
Classical aerodynamic
Rigid Wing
Low Mass
fondamental beat frequency : 8 Hz
Pitching articulation
Rotation axis
Flapping articulation

24. Actuators Dynamical model “at resonance” non-linear model
4. Topic #3: Materials, Structures, Actuators
Actuators
Dynamical model “at resonance”
non-linear model
behavior of actuators active behavior elastic and inertial behavior

25. Continuation of the Project (work for 2005)
Numerical aerodynamics :
Different approaches are now in progress : NS, LES
- NS 2D
Adaptative grid
Re = 1000
U = 1m/s
c = 2 cm
Stc = 0.4 (f = 20 Hz)
Stc = 0.8 (f = 40 Hz)

26. Continuation of the Project (work for 2005)
Experimental aerodynamics: - A second mechanism to widen the range of kinematic parameters (hovering flight) - Visualization of the flows
Implementation of flight mechanics and aeroelasticity with unsteady models

27. Contacts: Management: Agnès Luc-Bouhali (Agnes.Luc-Bouhali@onera.fr)
Flight Mechanics and Control:
Laurent Planckaert
Aerodynamics:
Jean-Bernard Paquet
Materials, Structures, Actuators:
Daniel Osmont