This paper reports the effect of the Center of Gravity (CG) position on lateral flight dynamic stability of hovering KUBeetle, a tailless FW-MAV, providing further insights on the effects of asymmetries in body mass distribution and wing kinematics. For the current study, the standard linearized equations of motion were applied as in the previous work on longitudinal dynamic stability. The stability derivatives were acquired using the computational fluid dynamic methods via the commercial software of ANSYS Fluent. There exists a stable region for CG between 2.6% and 3.5% of the mean chord below the wing pivot point, in which the lateral motion of hovering KUBeetle is passively stable. For CG below the stable region, because of an unstable oscillatory mode, the lateral motion of the FW-MAV is unstable but can be stabilized using rolling rate feedback. For CG above the stable region, because of a divergence mode, the system remains unstable even with the rolling rate feedback. Comparison with other works on an FW-MAV based on a quasi-steady aerodynamic model and on insect showed similar characteristics for flapping flight. It is also interesting to note that the asymmetries in body mass and wing kinematics can enlarge the stable region of the system by a non-zero I_xz which approaches the root square of √I_xI₂, a negative L_rN_p, and a positive I_xz(I_r+N_p). Combining the current result with that of the previous work on longitudinal motion, the most beneficial region of the CG for full 6-DOF flight dynamic stability of hovering KUBeetle was suggested.

中文翻译：

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重心位置对悬停无尾FW-MAV中的飞行动力稳定性的影响：横向运动

本文报告了重心（CG）位置对无尾FW-MAV悬停的KUBeetle的横向飞行动力学稳定性的影响，从而提供了关于不对称性在体重分布和机翼运动学方面的影响的进一步见解。对于当前的研究，如先前关于纵向动态稳定性的工作一样，使用标准的线性运动方程。通过计算流体动力学方法通过ANSYS Fluent的商业软件。在机翼枢轴点下方存在CG稳定区域，该区域在平均弦的2.6％至3.5％之间，其中悬停KUBeetle的横向运动是被动稳定的。对于低于稳定区域的CG，由于不稳定的振荡模式，FW-MAV的横向运动是不稳定的，但可以使用滚动速率反馈使其稳定。对于稳定区域上方的CG，由于存在发散模式，因此即使有轧制速率反馈，系统仍保持不稳定。与基于准稳态空气动力学模型和昆虫的FW-MAV的其他研究比较，表明扑翼飞行具有相似的特征。还有趣的是，体重和机翼运动学的不对称性可以将系统的稳定区域扩大一个非零的I _xz其接近的平方根√I _X我₂，负极大号_ř Ñ _p和正我_XZ（我_{- [R} + N _p）。结合当前的结果和先前关于纵向运动的研究结果，提出了CG对悬停KUBeetle的完整6自由度飞行动力学稳定性最有利的区域。