Dynamic Modeling and Control of an In-plane 2-DOF Morphing Wing.

The dynamic equation of the morphing wing was obtained based on Lagrange method of analytical mechanics. The skin elastic forces and the aerodynamic load acting on the leading edge were taken into account. Since the morphing wing was a strongly coupled, over-actuated nonlinear system with multi-input and multi-output, a control system of the morphing wing, including control allocator, dynamic inversion controller and PID controllers, was designed. The control allocator was obtained by the pseudo inverse method; the dynamic inversion controller was applied to make the original system decoupled into two independent linear systems; two classical PID controllers were adopted for the linearlized systems. The mathematical model of the, morphing wing was verified via ADAMS simulation. The control system was tested by system simulation using Matlab. The results show that the combination of Lagrange equation, pseudo inverse allocation, dynamic inversion control and classical PID method can effectively solve the dynamic modeling and control problems of the in-plane 2-DOF morphing wing. [ABSTRACT FROM AUTHOR]