本研究旨在建立撲翼微型飛行器的縱向動態模型。研究中設計並製造了一個可以飛行的撲翼微型飛行器，並構建了實驗環境來進行動態模型的分析。利用高速攝影機捕捉飛行狀態，並使用機器手臂配合荷重元來精確測量微型飛行器的力與力矩，並採用平均週期模型來確定其縱向動態穩定性導數。首先，介紹了撲翼微型飛行器的基本原理和設計特點，以及風扇陣列模擬風洞實驗的裝置。其次，詳細描述了建構縱向動態模型的過程，包括力與力矩的測量、週期平均模型的建立等。最後，討論了研究結果和存在的問題，並提出了未來的改進方向。本研究對於撲翼微型飛行器的縱向動態特性研究提供了重要的理論基礎和實驗驗證，對其應用和發展具有一定的參考價值。

This study aims to establish a longitudinal dynamic model for a flapping wing micro aerial vehicle (FWMAV). In this research, a flyable FWMAV was designed and manufactured, and an experimental environment was constructed to analyze the dynamic model. High-speed cameras were used to capture the flight state, and a robotic arm equipped with load cells was utilized to accurately measure the forces and moments on the micro aerial vehicle. A period-averaged model was employed to determine its longitudinal dynamic stability derivatives. Firstly, the basic principles and design characteristics of the FWMAV are introduced, along with a description of the fan array device used to simulate a wind tunnel experiment. Secondly, the process of constructing the longitudinal dynamic model is detailed, including the measurement of forces and moments and the establishment of the period-averaged model. Finally, the research results and existing issues are discussed, and future improvement directions are proposed. This study provides important theoretical foundations and experimental validation for the longitudinal dynamic characteristics of FWMAVs, offering valuable references for their application and development.

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