In this paper, we compare the characteristics of hovering stability for two insect-inspired flapping-wing micro air vehicles (FW-MAVs) with different strategies to generate control moments for the longitudinal and lateral attitude controls. The two robots were named according to their control mechanisms, i.e., the Stroke-Plane-Change (SPC), and the Trailing-Edge-Change (TEC). The forces and moments produced by flapping wings were computed by the computational fluid dynamics (CFD) method. The longitudinal and lateral flight characteristics were identified as one fast subsidence mode, one slow subsidence mode, and one divergence oscillation mode. The results revealed that the fast and slow subsidence modes in the longitudinal and lateral motions of the SPC were stabilized faster than those of the TEC, while both of the lateral and longitudinal divergence modes of the SPC were more unstable than those of the TEC. Moreover, the effect of the longitudinal and lateral derivatives on the system poles of the SPC were investigated. The results showed that the major source of instability in the longitudinal motion was the pitching derivative with respect to the horizontal speed, $M_u^{+}$. Meanwhile, that in the lateral motion was the rolling derivative with respect to the horizontal side speed, $L_v^{+}$. Overall, the time response of the SPC, when the body was disturbed by an external force, was relatively faster than that of the TEC. Therefore, using the SPC mechanism can give the FW-MAV more agility to operate in highly cluttered spaces with obstacles.

在本文中，我们比较了两种昆虫启发式扑翼微型飞行器（FW-MAV）的悬停稳定性特性，它们具有不同的策略来生成纵向和横向姿态控制的控制力矩。这两个机器人是根据它们的控制机制命名的，即、行程平面变化 (SPC) 和后缘变化 (TEC)。通过计算流体动力学 (CFD) 方法计算由扑翼产生的力和力矩。纵向和横向飞行特性被确定为一种快速沉降模式、一种慢速沉降模式和一种发散振荡模式。结果表明，SPC纵向和横向运动中的快慢沉降模式比TEC稳定得更快，而SPC的横向和纵向发散模式都比TEC更不稳定。此外，研究了纵向和横向导数对 SPC 系统极点的影响。${米}_{你}^{+}$. 同时，在横向运动中，是相对于水平侧向速度的滚动导数，${升}_v^{+}$. 总体而言，当身体受到外力干扰时，SPC 的时间响应比 TEC 的时间响应更快。因此，使用SPC机制可以让FW-MAV在高度杂乱有障碍物的空间中更灵活地运行。