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doctoral thesis
A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:271648
Pandža, Viktor
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Pandža, V. (2022). A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:271648

Pandža, Viktor. "A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:271648

Pandža, Viktor. "A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions." Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:271648

Pandža, V. (2022). 'A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions', Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:271648

Pandža V. A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:271648

V. Pandža, "A numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions", Doctoral thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:271648

Metadata
TitleA numerically efficient computational model of a flapping micro aerial vehicle based on Hamiltonian geometric reductions
Title (english)Numerički efikasan računalni model male mahokrilne letjelice temeljen na Hamiltonovim geometrijskim redukcijama
AuthorViktor Pandža
MentorZdravko Terze (mentor)
Committee memberDario Zlatar (predsjednik povjerenstva)
Committee memberMilan Vrdoljak (član povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-02-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Aviation, Rocket and Space Technology
Universal decimal classification
(UDC)		629.7 - Air transport engineering
Abstract
Insect flight capabilities provide fascination for humans and fuel aspirations for development and manufacturing of insect-type flapping wing aerial vehicles. However, complex underlying aerodynamic phenomena limit our abilities in understanding insect flight and producing aerial vehicle exploiting same phenomena. To this end, a novel mid-fidelity approach to insect-type flapping vehicles modeling is proposed. Computational model includes Helmholtz-Hodge decompositon of fluid velocity into curl-free and divergence-free parts. Coupled multibody-fluid system equations of motion are derived, including added inertia effects of the environmental fluid and viscous effects arising as an additional aerodynamic load on a multibody system. Curl-free vector field is utilized to accurately model added inertia effects, while expressing coupled system dynamics by using multibody system variables only, after employing symplectic reduction of the coupled multibody-fluid system. On the other hand, unsteady viscous effects included in the divergence-free vector field are modeled by a wake of irrotational point vortices, shed from both leading (important for insect-type flapping flight) and trailing edges of the flapping wing. A proposed computational model is evaluated on two numerical examples involving insect-type flapping flight. The first test case involves standstill hovering of fruit fly in Earth atmospheric environment, propelled by flapping pattern characterized with smooth flapping angle functions. Second test case involves insect-type flapping wing aerial vehicle performing hovering in Mars atmospheric environment, with flapping pattern input in discrete form, resulting from optimization algorithm. It is concluded from results analysis that the proposed computational model exhibited near real time properties with high load prediction accuracy.
Abstract (croatian)
Let insekata predstavlja inspiraciju za istraživanje u tehničkim i prirodnim znanostima, zbog njihovih izvrsnih performansi letenja, koje se temelje na naglašenom korištenju nestacionarnih ‘fluid-solid’ utjecaja. Mahokrila insektnog tipa omogućuju energetski efikasan let i brze manevre, zadržavajući male dimenzije te predstavljajući letne performanse s kojima se ne mogu usporediti performanse konstruiranih letjelica (tek su nedavno dizajnirane prve letjelice koje u određenoj mjeri oponašaju let insekta). Razlog tomu jest složena nestacionarna aerodinamika karakteristična za let insekata koja se počela razumijevati tek u protekla tri desetljeća. Između ostalog, otkriveno je da insekti koriste vrtlog otpušten s napadnog ruba krila kako bi dodatno povećali uzgon u usporedbi s istim krilom pri istom napadnom kutu u stacionarnom strujanju bez vrtloga. Fokus istraživača u posljednja dva desetljaća usmjeren je na razvoj i izradu mahokrilne letjelice koja bi koristila iste nestacionarne aerodinamičke fenomene karakteristične za let insekata. Složenost nestacionarnih i izrazito nelinearnih aerodinamičkih fenomena otežava zadaću konstruiranja i optimiranja takve letjelice bez odgovarajućih računalnih alata. Zbog visokih frekvencija mahanja i velike amplitude rotacije krila karakterističnih za let insekata računalni modeli spregnutih zadaća temeljeni na metodi konačnih volumena za modeliranje fluida i posebnih (odvojenih) numeričkih rješavača dinamike uronjenog kinematičkog lanca pokazuju neoptimalne performanse i mogućnost pojava računalnih nestabilnosti. Osim toga, računalno vrijeme potrebno za njihovo izvršavanje čini takve pristupe modeliranja neupotrebljivima unutar konstrukcijskih petlji te unutar petlji za optimalno upravljanje. Iz tog razloga javlja se potreba za računalnim modelom mahokrilne letjelice insektnog tipa koji bi omogućio pouzdano modeliranje signifikantnih aerodinamičkih fenomena uz zadržavanje računalne efikasnosti koja omogućuje primjenu unutar konstrukcijskih petlji te unutar petlji optimalnog upravljanja. U tu svrhu spregnuti sustav krilo-fluid promatra se iz perspektive geometrijske mehanike koja omogućava redukcije spregnutog modela na zajedničkoj mognostrukosti, odnosno Lievoj grupi diskretnog mehaničkog sustava i ambijentalnog fluida. Brzina fluida se dekomponira u vektorsko polje bez vrtložnosti te vektorsko polje bez divergencije korištenjem Helmholtz-Hodge dekompozicije. Značajke vektorskog polja bez vrtložnosti se zatim koriste pri simplektičkoj redukciji multi-fizikalnog sustava za modeliranje dodane inercije krila uronjenog u fluid - važan fenomen za mahokrila insektnog tipa zbog velikih vrijednosti ubrzanja i složene kinematike krila insektnog tipa. Vektorsko polje bez divergencije koristi se za modeliranje viskoznih utjecaja vrtložnim tragom.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:235:271648
Study programmeTitle: Mechanical Engineering and Naval Architecture
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2022-03-30 13:24:39