Modeling and Virtual Simulation Environment Design for Falcon-Like Flapping-Wing Aircraft

Bionic flapping-wing aircraft is a strongly coupled and underactuated system, and its dynamic modeling and intelligent control are still a major challenge. In this paper, we develop an 3-dimensional dynamic model for the flapping-wing aircraft designed by our team. The aerodynamic performance of the wing is analysed by the blade element method and a theoretical calculation model is obtained. Based on wind tunnel experiment, an aerodynamic model is identified for the V-Tail, the attitude control ruddervators. Further, we build a virtual simulation environment based on gym, which is verified by the outdoor flight data. This work provides the basis for intelligent control of flapping wing aircraft.