The flight dynamics of Micro Air Vehicles (MAVs) exhibit significant nonlinear characteristics, which cannot be ignored in simulation or analysis. In this study, a full nonlinear simulation of the flight dynamics characteristics of a fixed-wing MAV is performed. To strengthen the developed nonlinear mathematical modeling, the MAV’s mass properties and propulsion characteristics are experimentally investigated. Moreover, the aerodynamic characteristics of the designed fixed-wing MAV are experimentally measured in a wind tunnel. The experimental aerodynamics investigation includes the propeller wash effect and the same flight conditions of the MAV. These measured data are fed to the nonlinear flight dynamics model to improve its accuracy and ensure the nonlinear aerodynamics effect on the flight dynamics. The enhanced model is then validated against response experimental measurements of the MAV in the wind tunnel that is free to pitch at different control inputs and initial conditions. Furthermore, it is compared to the response of the system identification model. The nonlinear simulation and dynamic testing investigations indicate many nonlinear phenomena, such as the appearance of the limit cycle in the longitudinal flight. This paper shows that the aerodynamic center of MAV with a low aspect ratio in the low Reynolds number regime of flow can move as a response to flap deflection. The validated nonlinear mathematical model was used to evaluate the MAV’s dynamics, design and evaluate a PID controller in flight conditions similar to the MAV’s actual flying mission. Moreover, the presented model can be used for flapping-wing MAVs using time-dependent experimental measurements.

微型飞行器（MAV）的飞行动力学具有明显的非线性特性，在仿真或分析中不能忽略。在这项研究中，对固定翼MAV的飞行动力学特性进行了完全非线性仿真。为了加强已开发的非线性数学模型，对MAV的质量特性和推进特性进行了实验研究。此外，在风洞中通过实验测量了设计的固定翼MAV的空气动力学特性。空气动力学实验研究包括螺旋桨洗涤效果和MAV的相同飞行条件。这些测量数据被馈送到非线性飞行动力学模型，以提高其准确性并确保非线性空气动力学对飞行动力学的影响。然后，针对风洞中MAV的响应实验测量值对增强模型进行了验证，该测量值可以在不同的控制输入和初始条件下自由俯仰。此外，将其与系统识别模型的响应进行比较。非线性仿真和动态测试研究表明许多非线性现象，例如纵向飞行中极限环的出现。本文表明，在低雷诺数流态下，低长宽比的MAV的空气动力学中心可以作为对襟翼偏转的响应而移动。经过验证的非线性数学模型用于评估MAV的动力学，设计和评估在类似于MAV实际飞行任务的飞行条件下的PID控制器。而且，