Comparison of Yaw Moment Generation Methods for Motor Directly Driven Flapping Wing Micro Aerial Vehicle

In this paper, a comparison of yaw moment generation methods was conducted for a motor directly driven flapping wing micro aerial vehicle equipped with a resonant flapping wing system using extension springs. Two proposed methods for generating yaw moments in the motor directly driven flapping wing micro aerial vehicle were Split-Cycle Constant Period Frequency Modulation and Shift of the Mean Wing Stroke Angle. A yaw moment measurement device was constructed using rotary encoder for the purpose of yaw moment measurement. The yaw moments generated by each method were measured and examined using this device, and a comparison was made to find the most suitable method for the model. The identified yaw moment generation methods are expected to be effectively used for attitude control of the flapping-wing micro aerial vehicle.