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REMANTA REsearch program on Micro Aerial vehicle

and New Technologies Application

Brieuc DANET(Brieuc.Danet@onera.fr)

4th European Micro-UAV Meeting

Toulouse, 15th September 2004

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1. Objectives of the Research Program

2. Topic 1 : Experimental Aerodynamics

3. Topic 2 : Flight Mechanics and Control

4. Topic 3 : Materials, Structures, Actuators

5. Continuation of the Project

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1. Objectives

Objective: Feasability and interest of a flapping-wing MAV

Caracteristics of the vehicle:

• Small size : wing span < 15 cm

• Mass ~ 100 g

• Ability of stationary flight

• Large autonomy

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1. Objectives

Biomimetism

Understand the phenomena that permit animals to fly

Find accurate technical solutions

Copying nature is not the right way(multipurpose aspect of parts of the body)

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1. Objectives

Scientific and technological challenge:

Low Reynolds aerodynamics Numerous complex unsteady phenomena (dynamic stall, wake capture)

Control and command of wing kinematics in cruise, stationary Unusual flight dynamics flights and manoeuvers

Huge influence of mass Light materials Flexible structures Aeroelasticity High frequency sollicitations Accurate actuators

Large interactions between the domains

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6 Topic # 1: Experimental Aerodynamics

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2 objectives:

- qualitative: observe and describe to understand phenomena

Visualizations of aerodynamic flows

- quantitative: correlate wing kinematics with sustentation and propulsion to feed models with empiric data

Measurements of aerodynamic forces and torques

2. Topic #1: Experimental Aerodynamics

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2. Topic #1: Experimental Aerodynamics

Experiments in the air:

- Uneasy visualizations- Inertial forces >> Aerodynamic forces i.e. difficult analysis of measures

Experiments in water with conservation of :

Reynolds number ( )

and reduced frequency ( )

Uc

Re

fc

f *

airwaterairwater ffUU ,

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2. Topic #1: Experimental Aerodynamics

Facilities

Lille: Water Tank

- Section H1.5m x W1.5m x L25m

- V (moving platform) = 0.1 to 1 m/s

- Injection of dyed liquid.

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2. Topic #1: Experimental Aerodynamics

Facilities

Toulouse: Water Tunnel

- max Flow rate 20 l/s (slaved)

- Section up to H500xP600 (V=13 cm/s)

- Slaved and controlled dyed liquid injection (flow rate and position)

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Testing conditions

• Re ~ 104 - 105

• NACA 0012 Profile (not optimal but well documented)

• Realization of a coupled mechanism 2D : plunging and pitching

3D : flapping and pitching

• Application: cruise flight

• Measurements: - 5 components balance (no axial component) for measurement of forces and torques and evaluations of Cx, Cz,…- Image acquisition. Laser Tomography

2. Topic #1: Experimental Aerodynamics

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2. Topic #1: Experimental Aerodynamics

2D Mechanism

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3D Mechanism

2. Topic #1: Experimental Aerodynamics

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2. Topic #1: Experimental Aerodynamics

Mechanism installed on the wall

Coupled Mechanism

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2. Topic #1: Experimental Aerodynamics

2 testing campaigns (2003 & 2004): More than 800 tests (3D and quasi-2D)

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Results

2. Topic #1: Experimental Aerodynamics

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2. Topic #1: Experimental Aerodynamics

Visualizations

f = 0.5 Hz ; U = 0 m/s f = 0.5 Hz ; U = 0.25 m/s

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18 Topic # 2: Flight Mechanics and Control

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3. Topic #2: Flight Mechanics and Control

Unusual Flight Mechanics

• Model based on the flight analysis of insects and birds

• Cruise and hovering flights

• Linear model + unsteady effects (Dynamic delayed stall, etc)

• Use of aerodynamic data issued from experiments (open literature and ONERA )

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20 Topic # 3: Materials, Structures, Actuators

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4. Topic #3: Materials, Structures, Actuators

- Selection, elaboration and characterization of light materials (composites carbon/epoxy)

- Modelization of structures under high frequency requests with aero coupling

- Search of actuators adapted to kinematics

Concepts inspired by nature

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4. Topic #3: Materials, Structures, Actuators

Light MaterialsTerphane 29 m

Composite T300/914

Total Mass: 0,6 g

60 m

m

60 mm

frequency : 30 Hzdistance between supports : 10 mmdeformation : +/- 0,1 or 0,2 or 0,4 mm

Flexion tests :

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4. Topic #3: Materials, Structures, Actuators

Structures

Rotation axisFlapping articulation

Pitching articulation

WingCalage

Assumptions:

• ROTOR code (D. Petot)

• 3D mechanism

• Rotation simulates forward flight

• Decoupled joints

• Classical aerodynamic

• Rigid Wing

• Low Mass

• fondamental beat frequency : 8 Hz

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4. Topic #3: Materials, Structures, Actuators

Actuators• Dynamical model “at resonance”

• non-linear model

• behavior of actuators - active behavior - elastic and inertial behavior

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Continuation of the Project (work for 2005)

• Numerical aerodynamics : Different approaches are now in progress : NS, LES

- NS 2D- Adaptative grid- Re = 1000- U = 1m/s- c = 2 cm

Stc = 0.8 (f = 40 Hz) Stc = 0.4 (f = 20 Hz)

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Continuation of the Project (work for 2005)

• Experimental aerodynamics: - A second mechanism to widen the range of kinematic parameters (hovering flight)- Visualization of the flows

• Implementation of flight mechanics and aeroelasticity with unsteady models

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Contacts:

• Management:Agnès Luc-Bouhali (Agnes.Luc-Bouhali@onera.fr)

• Flight Mechanics and Control:

Laurent Planckaert (Laurent.Planckaert@onera.fr)

• Aerodynamics:

Jean-Bernard Paquet (Jean-Bernard.Paquet@onera.fr)

• Materials, Structures, Actuators:

Daniel Osmont (Daniel.Osmont@onera.fr)