The flight quality of Flapping Wing Micro Aerial Vehicle(FWMAV) depends much upon efficient control of flight attitude.So

an accurate model of flight attitude is of utmost importance.The fly mechanism of birds and big insects

especially the motion rule of wings were investigated

and the factors on mechanical design were also considered to establish a complete dynamic model and mathematical model of flight attitude of FWMAV.It is learnt that the airframe is subjected to aerodynamic force

gravity

and propulsion from airfoils.For airfoil motion with two degrees of freedom-flapping and rotation

the propulsion is an instantaneous aerodynamic force combined from instantaneous translational force and rotational force.The numerical simulation also demonstrates the validity of the dynamic model.