Bioinspired Feathered Flapping Wing UAV Design for Operation in Gusty Environment

Table 2

Parameters of model.

Component	Description	Values
Motors
Voltage source	Electrical	7.2 V
Armature resistance of the motors	Electrical	5.1 Ω
Gyrator ratio of motors	Electrical	0.00813
Damping of motors	Mechanical	0.00068 N-s/m
Mass of motors	Mechanical	0.021 kg
Gears
Ratio of gears	Mechanical	0.112
Flapping mechanism
Mass moment of inertia of crank	Mechanical	0.009 kg/m^2
Transformer ratio of connecting rod	Mechanical	2
Transformer ratio of linkages	Mechanical	1
Mass of connecting rod	Mechanical	0.03 kg
Mass moment of inertia of connecting rod	Mechanical	0.006 kg/m^2
Rigid beam wing
Mass of rigid beam	Mechanical	0.4 kg
Mass moment of inertia of rigid beam	Mechanical	0.024 kg/m^2
Transformer ratio of rigid beam	Mechanical	1
Main body
Mass of body	Mechanical	0.15 kg
Mass moment of inertia (Jx, Jy, Jz)	Mechanical	0.002,0.004,0.003 kg/m^2
Gust speed	Mechanical	25 m/s
GMS
Flap
Mass of flap	Mechanical	0.018 kg
Mass of skeletal structure	Mechanical	0.098 kg
Gust velocity on feather	Mechanical	25 m/s
Voice coil actuator
Inductance	Electrical	0.89 H
Stiffness	Mechanical	0.589 kN/m
Piezoelectric stack
Resistance between amplifier and PZT	Electrical	5 Ω
Mass of stack	Mechanical	0.008 kg
PZT spring stiffness	Mechanical	0.024 kN/m
PZT equivalent capacitance	Electrical	1.5 × 10^−7 F
Coupling ratio	Electrical	0.478
Spring
Spring stiffness	Mechanical	0.03 kN/m
Mechanical linkage
Transformer ratio	Mechanical	0.2