Uninhabited Air Vehicle Team (UAV Team) Multi Purpose UAV

Uninhabited Air Vehicle Team(UAV Team)

Multi Purpose UAVTeam Members:Maria Luviano

Roland Chen

Juan Pablo Barquero

Shing Chi Chan

Tom Guyette

Karla Lima

Solomon Yitagetsu

Wess Gates

Faculty Advisors:Dr. Chivey WuDr. Helen Boussalis

11/19/09 1NASA Grant NNX08BA44A

Overview

Project requirements Mission profile UAV design Computational fluid dynamics UAV structures Avionics Servo bench testing Flight control system Trainer integration Budget and schedule


Project Requirements

3 hrs endurance Autonomous 10 lb payload Cruise Altitude 3280 ft Cruise Speed 50 mph Gross weight 55 lbs

11/19/09 NASA Grant NNX08BA44A 3

Takeoff

Cruise Out Cruise Back

Landing

Payload Drop

Clim

b

Clim

bDescen

d

Descen

d3280 ft

Cruise Speed 50mph

180 miles


Mission Profile

Aerodynamic Design


Aircraft Wing Selection

Tapered Rectangular Swept

Required wing aerodynamic characteristics

Lift coefficient CL = L/q.S High lift to drag ratio CL/CD


Trade Study

Tapered ♦ AR = 5♦ Span = 11 ft♦ Cr = 3.55 ft♦ Ct = 1.24 ft♦ Cmean = 2.4 ft♦ Wing Loading

= 2.3 lbs/ft^2

Results

CL = 0.0531

CL/CD = 20

Rectangular ♦ AR = 5♦ Span = 11 ft♦ C = 2.2 ft

♦ Cmean = 2.4 ft♦ Wing Loading

= 2.3 lbs/ft^2

Results

CL = 0.0739

CL/CD = 24

Swept Back♦ AR = 5♦ Span = 11 ft♦ Cr = 3.3♦ Ct = 1.15♦ Cmean = 2.2♦ Wing Loading

= 2.3 lbs/ft^2

Results

CL = 0.0607

CL/CD = 20


Calculated Lift Coefficient


Computational Fluid Dynamics (CFD)

Why CFD♦Verify hand calculations

♦Reduce wind tunnel testing cost

XFLR5 Software♦Produces accurate aerodynamic coefficients

♦Fast and user-friendly

Wings Analyzed♦Swept back

♦Rectangular

♦Tapered


XFLR5 Wing Geometry Input


CFD Results for Swept Back Wing


CFD Results for Rectangular Wing


CFD Results for Tapered Wing


Swept Back WingHand Calculations vs. CFD

CL vs AoA

-0.2

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

-5 0 5 10 15 20

AoA

CL

Calculations

CFD

CD vs CL

0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

-0.2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

CL

CD

Calculations

CFD


Rectangular WingHand Calculations vs. CFD

CL vs AoA

-1

-0.5

0

0.5

1

1.5

2

-15 -10 -5 0 5 10 15 20

AoA

CL

Calculations

CFD

CD vs CL

0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

-1 -0.5 0 0.5 1 1.5 2

CL

CD

Calculations

CFD


Tapered Wing Hand Calculations vs. CFD

CL vs AoA

-0.2

0

0.2

0.4

0.6

0.8

1

1.2

-10 -5 0 5 10 15 20

AoA

CL

Calculations

CFD

CD vs CL

0

0.02

0.04

0.06

0.08

0.1

0.12

0.14

0.16

0.18

0.2

-0.2 0 0.2 0.4 0.6 0.8 1 1.2

CL

CD

Calculations

CFD


CFD Lift Comparison


CFD Drag Polar


UAV Configuration


Configuration Layout


Aerodynamic Analysis


Takeoff and Landing Distance


Constraint Diagram


Structural Design & Analysis


Studying Aircraft Structures

Aircraft structure is required to support two distinct classes of load♦ Ground Load: movement on the ground ( taxing, landing, and towing)

♦ Air Loads: loads during flight by maneuvers and gusts.

Function of structural components:♦ To transmit and resist loads to provide shape and protect passengers,

payload, systems, etc from the environmental conditions found during flight.

Two type of structures♦ Semi-monocoque – shell is usually supported by members and frames

to support bending, compressive loads, torsional loads without bucking.

♦ Monocoque – thin shells that rely on the skin for their capacity to resist the loads


V-n Diagram

Shows flight load factors or “g forces” that are used for structural design, as a function of air speed.

Load factor “n” is the ratio between the air load acting on the airplane, to the weight of the aircraft♦ n = L / W

For level flight, assume n = 1 However, during maneuvers n can be larger:

♦ Acceleration

♦ Turns

♦ Climb

♦ Gust loads


V-n Diagram

Total air load produced = 6.20*55 = 341.0 lb


V-n Diagram

Vs

VAVc

Vd

11/19/09 28NASA Grant NNX08BA44A11/19/09 28NASA Grant NNX08BA44A

Wing Load Distribution

Schrenk’s method gives approx. calculations for the span wise load. Maximum lift is generated by root chord, and minimum lift is

generated by the tip cord. Assumes the load distribution on the wing has an elliptical planform

and a trapezoidal planform. Both distributions are calculated and then an average is taken:


Span-wise Load Distribution


Analysis – Wing Spar

Braided carbon fiber rectangular tubeBraided carbon fiber round tube

σultimate = 640,000 psi

http://dragonplate.com/docs/DPSpecRoundTube.pdfhttp://dragonplate.com/docs/DPSpecRecTube.pdf


http://dragonplate.com/docs/DPSpecRoundTube.pdf

http://dragonplate.com/docs/DPSpecRecTube.pdf


Size(Dxdxt) Weight (lb/ft)

Stress (psi)

Tot. Weight (lb)

0.75x0.75x.21 0.16 319,600 0.88/1.76

1.08x1x0.04 0.08 295,400 0.44/0.88

1.58x1.5x0.040 0.11 133,200 0.605/1.21

2.09x2x0.045 0.15 66,900 0.825/1.65

3.17x3x0.085 0.47 15,640 2.585/5.17

Size(bxhxt) Weight (lb/ft)

Stress (psi)

Tot. Weight (lb)

0.85x0.85x0.05 0.07 120,100 0.275/0.55

1.1x1.1x0.05 0.10 68,830 0.55/1.1

2.1x1.1x0.05 0.14 368,500 0.77/1.54

2.13x2.13x0.065 0.26 3,314 1.43/2.86

Round Tube

Rect. Tube


Wing Structure

Spar 1 – 80 in @ approx. 15 % of cordSpar 2 – 65 in @ approx. 60 % of cordRib Separation 6 inFuel Tank(s)

Spar 1

Spar 2

Ribs

Estimated Weight = 3.56 lbs

Fuel Tank


Integration of Isotruss

Isotruss – A light, compact grid structure composed of carbon fiber and Kevlar filaments.

Uses:♦ Frames♦ Poles♦ Stiffeners ♦ Beams

http://www.delta7bikes.com/shop-bike.htm


Isotruss

http://www.delta7bikes.com/11/19/09 35NASA Grant NNX08BA44A

Avionics


Objective


Requirements

360 oz-in


Process


Results & Integration


41

Control Surfaces

Tom Guyette

November 19, 2009


Air flow with velocity v

2

2

1vq

pqAF Projected area Ap

Dynamic pressure q from conservation of momentum

Early work: Juan Barquero; Image source: Wess Gates

Forces on Control Surfaces


Elevons

Side View – Wing

Air flowRight

Elevon UpRight Elevon

Down

Left

Elevon

Up

Pitch up Roll left

Left

Elevon

Down

Roll right Pitch down


Why Bench Test?

Determine how much mechanical power our servos can produce:

♦ Too small = No takeoff, or loss of control, or sluggish = Bad

♦ Too big = Heavy = Bad

Determine how much electrical power the servos consume under different conditions:

♦ Running out of power = Bad

♦ Losing control as battery voltage deflates over mission = Bad


Image Source: http://www.greatplanes.com


http://www.greatplanes.com/

Power

Usual Setup

Image sources: www.servocity.com, www.memory-up.com, www.coleparmer.com

PWM Ctrl

PowerSerial


http://www.servocity.com/

http://www.memory-up.com/

http://www.coleparmer.com/

High-Current Setup

Trickle

PWM Ctrl Power






Add Instrumentation

Image sources: www.labjack.com, www.nubotics.com, www.amazon.com



http://www.labjack.com/

http://www.nubotics.com/

http://www.amazon.com/




Flight Control System(FCS)


BackgroundPiccolo Plus System

Hardware

RS232 Payload Interface♦ Two

General I/O (Including Servo)♦ Twelve (12) configurable GPIO lines

Other I/O♦ CAN: Simulation / General Interface

Flight Termination: Deadman output

Electrical♦ Vin: 8 - 20 volts

Power: 4 W (typical - including 900 MHz radio)

Mechanical♦ Size: 142 x 46 x 62 mm unflanged

(5.6 x 1.8 x 2.4 inches) ♦ Weight: 220 grams with 900 MHz radio

(7.7 oz)

Piccolo System Avionics:♦ Avionics Hardware and software,♦ Ground-station hardware and software


Arcturus T-15 Flight Plan


Model – T60 (trainer)

Wing span: 1.7653m Wing area: 0.5658 m^2 Engine: Tower Hobbies – 2 stroke .61 cu Dry weight: 7.5 lbs Max weight: 8.5lbs Cruise speed: 13 m/s


Flight Control System Lab Environment Simulation

Hobbies Trainer 60

Learn how to operate the system in an lab environment

Software in the loop♦ Piccolo Plus executable♦ Ground station executable♦ Develop Dynamic Models

Aerodynamic Model Inertia Data Model Propeller Model Engine Model

Fly the UAV model in the simulator♦ Develop autopilot gains ♦ Flying initial mission

Hardware in the loop♦ Piccolo Plus Autopilot♦ Ground Station♦ Controller Area Network (CAN)

Integration to Piccolo Avionics♦ Airframe Installation♦ Control Surface Calibration

Developing an aircraft model for CCT♦ Measure aircraft geometry, pull data from

3-view / solid model [PHD Thesis parameters] [COMPLETED]

♦ Determine Center Of Gravity location [COMPLETED]

♦ Create AVL model [COMPLETED]

♦ Refine AVL model with XFoil data [COMPLETED]

♦ Generate XML aerodynamics model file [COMPLETED ]

♦ Model aircraft inertia data [COMPLETED]♦ Create prop model ♦ Create engine model♦ Create Piccolo Simulator model template♦ Set up Piccolo autopilot configuration (control

surfaces, tail configuration, aircraft parameters)

♦ Test with software-in-loop simulation and FlightGear visualization

♦ Verify manual control response, required control surface limits Generate autopilot gains


Modeling & Simulation Hobbies Trainer 60

Software in the Loop Simulation environment

application♦ Aircraft control laws to be applied♦ Mission Functionality to be tested without

risking aircraft in the flight test♦ Simulation environment reduces the risk of

failure

Window based PC required to install the Piccolo Command Center (PCC)

Same Functionality as Hardware in the Loop ♦ No autopilot or Ground station Connected♦ PC application take place of the ground

station and autopilot such as the grounstationpc.exe, piccolopc.exe and the gimbalpc.exe (same function as the piccolopc.exe)

Soft wares: Cloud Cap Piccolo 2.1.0

♦ Piccolo Command Center♦ Simulator♦ AVL Editor♦ JavaProp♦ FlightGear


Flight Control System Integration to the new UAV

Plan New UAV lab environment

simulation♦ Software in the Loop/Hardware in the Loop

Airframe installation♦ Canard

Perform control surface calibration♦ Elevators, etc.

Secure a fly site♦ Apollo XI Field

Develop flight plan and safety procedures

♦ Utilizing Piccolo Command Center

Knight_09


Trainer Integration


Objective

The purpose of this trainer plane is : ♦ To reduce:

Risk Expense and liability

♦ Learn the operation and capabilities of the flight control system


Trainer Preparation

Maintenance Find the proper parts

♦ Transmitter Futaba T9CAP

♦ 6 Channel micro FM receiver♦ Battery ♦ Crystal

Channel 31

Fuel♦ Premium model engine fuel


Final Test

Static

♦ Communication: which is receiver with transmitter

♦ Throttle and control surfaces

Dynamic

♦ Run the engine and check control surfaces


Final Test

Ran engine for 1 Hr. 20 min. 275ml fuel used

Time Throttle Aileron Rudder Elevate

1 11:20AM √ √ √ √

2 11: 30 √ √ √ √

3 11:40 √ √ √ √

4 11:50 √ √ √ √

5 12:00PM √ √ √ √

6 12:10 √ √ √ √

7 12:20 √ √ √ √

8 12:30 √ √ √ √

9 12:40 √ √ √ √


Next Steps

Replace FM receiver with Piccolo Plus receiver

Use autopilot to fly the trainer


UAV Project Timeline


Budget




Reference

Corke C. Thomas. Design of Aircraft. 2003. Prentice Hall Anderson Jr, John D. Aircraft Performance and Design. Mcgraw Hill

1999 Beer P. Ferdinand, Johnson E. Russell, and Dewolf T. John. Mechanics of Materials. 4th Edition.

McGraw Hill. 2003 T.H.G. Megson. Aircraft Structures for Engineering Students. 3rd Edition. Butterworth

Heinenmann. 1999 Raymer, Daniel P, Aircraft Design: A Conceptual Approach. 3rd Edition. AIAA Education Series

1999 www.wikipedia.org http://www.sierracomposites.com/carbon-fiber-square-tube-with-2-sides-p/cfst284.htm http://dragonplate.com/docs/DPSpecRecTube.pdf http://www.safetycitystore.comhttp://www.bagking.com/Merchant2/merchant.mvc?

Screen=PROD&Product_Code=TDH6&qts=googlebase&qtk=TDH6 http://www.delta7bikes.com/shop-bike.htm Anderson Jr, John D. Aircraft Performance and Design. Mcgraw Hill

1999


Reference

http://www.powerelectronics.com Mr. Frank Unk, the Boeing Company Wikipedia http://www.sengpielaudio.com/calculator-cross-section.htm http://www.batteryuniversity.com/partone-5A.htm http://www.mpoweruk.com/performance.htm Universal Serial Bus Specification, USB-IF http://www.usb.org http://en.wikipedia.org/wiki/Torque http://en.wikipedia.org/wiki/Torque http://www.copperhillmedia.com/VisualSizer/MotorSizingArticles.html http://www.electricmotors.machinedesign.com/guiEdits/Content/bdeee3/

bdeee3_1.aspx http://rmsmotion.com/resources/step_basics_v1_0.pdf A Comprehensible Guide to Servo Motor Sizing by Wilfried Voss http://www.powerstream.com/Wire_Size.htm http://www.66pacific.com/calculators/wire_calc.aspx


Thank You

AdvisorsDr. Boussalis

Dr. WuDr. Guillaume

Dr. PhamDr. Liu

SupportNhan Doan

Long Ly

Winston Young

Michael Tran

Alan Ko

Cloudcap Technical Support




Backup Slides


Payload

http://www.safetycitystore.com


Payload

http://www.bagking.com/Merchant2/merchant.mvc?Screen=PROD&Product_Code=TDH6&qts=googlebase&qtk=TDH6





Circular Square

Round off to 0.75 in11/19/09 74NASA Grant NNX08BA44A

Payload

http://www.safetycitystore.com


The Study of Lithium-ion Polymer Battery

No metal battery cell casing Light weight Higher energy density ~20% >= traditional Li-ion battery Cell voltage (2.7V - 4.23V) Requires “overcharging” protection circuit Requires longer charge time Has a slower discharge rate


The Study of Lithium-ion Polymer Battery (cont.)

Fully charge or discharge a Li-ion battery shortens the battery life

Slow charging current is recommended for extended battery life. Usually charging at a fraction of 1/5 is ideal.

Charging at the rate of C/5 will yield a 85% charged battery or 4.1V

C = charging current; for a typical 2000mAh battery charging at C/2 or C/x will complete the charging cycle in 2 hours or x hour(s).


Battery performance (Discharge rate)

Like others, Lithium-ion batteries would maintain the voltage of the cell as long as the discharge rate is kept slow

With a larger load, meaning a higher discharge rate, the battery would yield a lower potential (V)


Battery performance (Discharge rate)

Lithium-ion batteries typically have a higher nominal potential (Voltage = 3V)

The Li-ion battery generally has a peak voltage at 4.23V

For a rough estimate, the Li-ion battery would have lost about 0.6V when 90% of the capacity is discharged. In our case, we multiple that lost by 3 since we have a 3-cell battery which yields a 1.8V dropped at low capacity

Ideal operational range


The discharge rate of the battery(s) (Temperature)

Lithium-ion batteries does not operate well in extreme temperatures.

In the lower end, the battery provides less capacity and hence drain faster

In the upper end, the battery’s active chemicals may break down and possibly destroy the battery


Some batteries comparison


Battery comparison (Energy Density)

Lithium-ion Polymer battery clearly has the highest energy density when compared to others


Wire Gauge Characteristics

By research, 16 - 18 AWG wire seem appropriate for our application


The study of “voltage" dropped across various wire gauge

Formula for calculating voltage drop

Δ V = I · R = I · (2 · e · ρ / A)I = Current in ampere

e = Wire length in meters (times 2, because there is always a return wire)

ρ = Rho, specific resistance for copper = 0.01785 ohm·mm²/m(Ohms for 1 m length and 1 mm2 cross section area of the wire)

A = Cross section area in mm2

For example, For AWG 16 wire, the wire diameter d=1.2909mm, cross section area A=1.3 mm2

So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/1.3) = 0.02746 e(I)

For AWG 18 wire, the wire diameter d=1.02mm, cross section area A=0.82 mm2

So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/0.82) = 0.04354 e(I)


Wire Impedance Impact

Based on the preliminary wire gauge preference 1:♦ Copper wire

♦ 20 AWG

♦ 12V DC

♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)

♦ 9 A for the load (Flap Servos for max. power consumption)

Based on the preliminary wire gauge preference 2:♦ Copper wire

♦ 16 AWG

♦ 12V DC

♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)

♦ 9 A for the load (Flap Servos for max. power consumption)


Wire Impedance Impact (cont.)

Preference 1 Preference 2

Type Copper Type Copper

Gauge 20 AWG Gauge 16 AWG

Voltage 12V Voltage 12V

Length (round trip) 16 ft Length (round trip) 16 ft

Current for LOAD 9A Current for LOAD 9A

Voltage drop across wire 1.505V Voltage drop across wire 0.6V

Voltage at load end of circuit 10.495V Voltage at load end of

circuit 11.4V

% of voltage drop 12.54% % of voltage drop 5.00%

Wire total weight 0.0499 lbs Wire total weight 0.1263 lbs


Servo Motor trade study

Servo Motor♦ Servo Motors are basically DC motor + control system (internal) which

listens to PWM signals. The control system would then translate the PWM signals into position commands by regulating the desire input voltage to the motor.

♦ The advantage Utilize the PWM which is sort of a mature standard in servo motor control. Reliability Small scale

♦ The disadvantage Requires control mechanism which translate the signal (This is usually

included with the motor, however) Precision depends on the input voltage which can become a problem


360 oz-in

Torque Requirements

According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings

For the canard wing, no servo will be required! (Updated)

For the rectangular wing, (1/2 of the body) = 360 oz-in


Power Distribution / Wiring Diagram (Ground Station)

Car alternator/battery supplying 12V steady power

Piccolo Controller requires a 12V voltage which can be obtained directly from the car power source

Ground station would require an additional step-up transformer in order to provide 16V out of 12V


USB 2.0 Speed and Operational Speed (Transfer Speed)

USB 2.0 is backward compatible with the prior USB1.1 and USB1.0 standard

USB 2.0 has 3 different speed modes: Low-Speed, Full-Speed, and High-Speed

Low-Speed has a transfer rate of 10 – 100 kbits/s Full-Speed has a transfer rate of 500 kbits/s – 10Mbits/s High-Speed has a transfer rate of 25 – 400Mbits/s Typically, a USB cables are made with 28 AWG wires


Low/Full Speed USB 2.0 Transfer Speed Identification

The Low / Full Speed is determined from the placement of the differential resistor Rpw

In other words, it’s unlikely to degrade the speed mode due to a variation of a potential difference in the data signal

However, for High-Speed mode a steady 3.3V would need to be maintained; a lousy USB cable with high impedance would keep the speed from reaching the High-Speed mode


360 oz-in

Torque Requirements

According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings

For the canard wing, no servo will be required! (Updated)

For the rectangular wing, (1/2 of the body) = 360 oz-in


Torque to Watts Conversion

In SI units:

In English units:

1 lb = 16 ounces 1 ft = 12 in

1 hp = 745.699872 watts


Batteries & Servo motors specification (Preliminary)

Thunder Power Pro Power 30C Li-Po battery (TP5000-3SP30)♦ Two (3-cell) 12V Li-Po battery with 5000mAh

♦ To be used for the FCS

♦ Gross weight = 265g = 0.564 lbs

Thunder Power Pro Power 30C Li-Po battery (TP5000-2SP30)♦ Four (2-cell) 7.4V Li-Po battery with 5000mAh

♦ To be used for the servos

♦ Gross weight = 400g = 0.882 lbs

ServoCity Servo motors (HS-7950TG)♦ A total of 5 servo motors

♦ Each servo motor has a input range of (4.8V, 6V, 7.4V)

♦ Each servo motor weight 68.0 g or 0.1499 lbs


“Fire Eye” System Concept Draft


“Fire Eye” System Background

“Cloud Camera.”

Source: http://panopticus.altervista.org/fishlist/cloudcameras.htm

Infrared image of fire.

Source: Töreyin, Cinbis, Dedeoglu, Çetin, “Fire detection in infrared video using wavelet analysis,” Optical Engineering 46(6) (June, 2007).


“Fire Eye” System Background

Fisheye images of ground and sky. Source: http://www.gdargaud.net/Photo/Fisheye.html


“Fire Eye” Data Flow

Acquire infra-red fisheye image

Transmit image to ground station

DSP: De-fisheye

DSP: Detect fire

DSP: Calculate heading

FCS: Re-calc flight plan

Change heading

Air Vehicle

Ground or on-board11/19/09 98NASA Grant NNX08BA44A11/19/09 98NASA Grant NNX08BA44A

Flight Control System (FCS) Overview


Flight Control System

Ground Station

Flight Control System (FCS) Goal

Servos

<16

External sensors

3 DOF IMU RollPitchYaw

Combo Pitot / Static sensor

3/32 Tygon tube

900 Mhz ISM

Image source: www.cloudcaptech.comInfo source: Piccolo Vehicle Integration Guide

900 MHz 1W Xmit / Recv GPS

Recv

PWM

¼-waveLarsen RadiallBNC antenna

12V

USB to RS232


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Uninhabited Air Vehicle Team (UAV Team) Multi Purpose UAV

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