par Wang, Han 
Président du jury Hendrick, Patrick
Promoteur Garone, Emanuele
Co-Promoteur Preumont, André
Publication Non publié, 2024-09-02
Président du jury Hendrick, Patrick
Promoteur Garone, Emanuele
Co-Promoteur Preumont, André
Publication Non publié, 2024-09-02
Thèse de doctorat
| Résumé : | This thesis explores the design, development and testing of a tailless, two-winged robotic hummingbird, named COLIBRI. The current version of our robot has a total mass of around 22 gr, a wingspan of 21cm and a flapping frequency of around 20Hz. The primary objective is to enhance its flight autonomy and stability. This research encompasses the details of the electromechanical design, focusing on optimizing lift production, reducing heat dissipation and minimizing weight to achieve prolonged flight duration. The research includes a detailed comparison of two flapping mechanisms: a string-based system and a gear-based system. Both prototypes were evaluated for their lift production and mechanical power efficiency.The thesis also investigates the generation of actuation mechanism, which provides the necessary pitch, roll moments. The control system incorporates two attitude reconstruction algorithms: a Complementary filter and a full state dynamic observer implemented as a Kalman filter. Both of them were designed to filter out the noise caused by the rapid flapping of the wings, ensuring accurate and reliable attitude estimation.They are implemented on a newly developed control board with enhanced performance and reduced weight. Experimental results demonstrate successful attitude stabilization and improve station keeping, despite significant flapping noise. Notably, the gear-based prototype achieved a maximum flight time of 4 minutes and 45 seconds, highlighting the effectiveness of the design improvements in extending flight duration. |
