In the previous chapters, the equations of motion were determined for the ornithopter. In this chapter, those equations are programmed into a nonlinear flight simulator for the purposes of simulation and model simplification. An overview of the simulation environment is first presented. Afterwards, a method is discussed for trimming the model for straight and level mean flight. Numerical methods are then employed to numerically linearize the model about straight and level mean flight, resulting in both a conventional time-invariant model as well as a time-periodic model.
The ornithopter flight ...