This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter supposed to go left now go right instead. This research gives a qualitative dynamics model which explains this new phenomenon. Because of wing folding, the differential rotation of outer-section wing (analogues to aileron in plane, left aileron up and right aileron down make left turn) around pitch axis becomes common mode rotation around yaw axis,leading its rotating torque changing from left-handed rotation (using left-handed as example, right-handed is the same) around roll axis to a common mode force pointing to front-right (northeast, NE) direction from first player's view of the ornithopter.Because most of the flapping movement is in the upper hemisphere from ornithopter's view, the NE force is above on the center of mass of the orthopter, generating a right-handed moment around roll axis. Therefore, the ornithopter supposed to go left now goes right. This phenomenon is a unique and only observed in two section articulated-wing ornithopter by far. Many field tests conducted by authors confirm it is highly repetitive.

翻译：本文提出了一种新型的两段式铰接翼扑翼飞行器滚转控制机制，该机制类比于固定翼飞行器的副翼控制。然而，类似的控制机制却导致了相反的结果：原本应向左转向的扑翼飞行器实际上向右转向。本研究建立了一个定性动力学模型来解释这一新现象。由于机翼折叠，外段机翼（类似固定翼飞行器的副翼，左副翼上偏、右副翼下偏导致左转）绕俯仰轴的差动旋转转变为绕偏航轴的共模旋转，其产生的滚转轴向转矩从左手旋转（以左手为例，右手同理）转变为从扑翼飞行器第一人称视角指向右前方（东北方向）的共模力。由于扑翼运动大部分位于扑翼飞行器视角的上半球，该东北方向力作用于飞行器质心上方，产生绕滚转轴的右手力矩。因此，原本应左转的扑翼飞行器反而右转。这一现象目前仅在两段式铰接翼扑翼飞行器中观测到，具有独特性。作者团队开展的大量实地测试证实该现象具有高度的可重复性。