Resumen
Flapping-wing micro air vehicles (FWMAVs) have the capability of performing various flight modes like birds and insects. Therefore, it is necessary to understand the various flight modes of FWMAVs in order to fully utilize the capability of the vehicle. The unique flight modes of FWMAVs can be studied through the trajectory optimization. This paper proposes a trajectory optimization framework of an FWMAV. A high-fidelity simulation model is included in the framework to sufficiently consider the complicated dynamics of the FWMAV. The unsteady aerodynamics are modeled with the unsteady panel method (UPM) and the unsteady vortex-lattice method (UVLM). The effect of wing inertia is also considered in the simulation model. In this study, transition flight trajectories are searched with the proposed framework. An optimal control problem is formulated for the transition flight from hovering to forward flight and transcribed to the parameter optimization problem with the direct shooting method. The cost function is defined as energy consumption. The same converged solution can be obtained with different initial guesses. The optimization results show that the FWMAV utilizes the pitch-up maneuver to increase altitude, although the forward speed is reduced. This pitch-up maneuver is performed more actively when the target velocity of transition is low, or the wind condition is favorable to acceleration.