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MINIATURE UNMANNED AERIAL VEHICLE

MINIATURE UNMANNED AERIAL VEHICLE. Team MUAV 2. The Project. Goals: To design and manufacture a relatively cheap, feasible and revolutionary aircraft with versatile control capabilities. Flight Lift off & Landing Propulsion for added flight time Stability & Control

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MINIATURE UNMANNED AERIAL VEHICLE

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  1. MINIATUREUNMANNEDAERIALVEHICLE

  2. Team MUAV2

  3. The Project • Goals: To design and manufacture a relatively cheap, feasible and revolutionary aircraft with versatile control capabilities. • Flight • Lift off & Landing • Propulsion for added flight time • Stability & Control • Powerful Maneuverability • Air Flow through counter-rotating ducted fans • Gear & Cam System • Wireless/Remote Control System • User Friendly GUI • - Integration of Electronic Devices

  4. Limitations • Monetary • - Knowledge & Experience • - Facilities (construction & testing) • - TIME

  5. Current Project Status • As of this date, we feel that we have studied the pros and cons of different MUAV designs enough to decide on a particular design. • This design is to be considered our current Frozen design. • We have purchased the pusher and tractor props for the MUAV and will be obtaining our engine within this week. • We are currently working towards developing a complete mathematical analysis of each sub-assembly. • This is to enable us to understand the innermost working of the different assemblies.

  6. Frozen Design

  7. Frozen Design

  8. Exploded Design Views – Different Sub-Assemblies LGA CFA SWA RFA

  9. Central Fan Assembly - CFA

  10. Central Fan Assembly - CFA CFA standalone shaft CFA standalone shaft explosion

  11. (m, U, p, A)1 3 4 (m, U, p, A)4 Central Fan Assembly - CFA Basic Principles and Assumptions • Isentropic Flow • Incompressible Flow (except at fan) • MUAV is moving at relatively low speeds • Exit flow exhausts to ambient pressure • Change in temperature is negligible • Change in height is negligible • There is no heat addition Control Volume 1 2

  12. Central Fan Assembly - CFA Basic Equations • Conservation of Mass (1) • Conservation of Momentum (2) • First Law of Thermodynamics (3)

  13. Central Fan Assembly - CFA Computation • From the control volume diagram, equation (2) takes the form: (4) • But since, • At exit, pressure is exhausted to ambient conditions • => p4 - p1 = 0 • V4 >>V1 , then V1 is negligible • So equation (4) becomes: (5)

  14. Central Fan Assembly - CFA Computation • Assuming ΔT = 0; • and any change in height of the fluid is negligible, • and that no heat is added to the control volume, • then equation (3) becomes: (6) • Solving equation (6) in terms of V4 we get: (7)

  15. Since ; assuming that substituting this result into (7) which, after minor rearrangement, yields: (8)

  16. Conclusion • By substituting equation (8) into equation (5) for V4 we get thrust as a function of power, if the density, exit area and mass flow rate are known. (9)

  17. MINIATUREUNMANNEDAERIALVEHICLE Central Fan Assembly - CFA Theory – Vibration Analysis & Stability m1 F CM l1 g θ l2 m2 g

  18. MINIATUREUNMANNEDAERIALVEHICLE Central Fan Assembly - CFA Theory – Vibration Analysis & Stability Linear Momentum Equation: Angular Momentum Equation: Frequency of Oscillations:

  19. MINIATUREUNMANNEDAERIALVEHICLE Central Fan Assembly - CFA Theory – Vibration Analysis & Stability • Conclusion: • As m2l2 m1l1, motion  ∞ • Stability  m1l1  m2l2

  20. Central Fan Assembly - CFA Gearing Calculations

  21. MINIATUREUNMANNEDAERIALVEHICLE Central Fan Assembly - CFA Gearing Calculations Bevel Gears Tooth Load: W = SFY 600 (.75) P 600 + V S = Safe Material Stress F = Face Width (in.) Y = Tooth Form Factor P = Diametral Pitch D = Pitch Diameter V = Pitch Line Velocity Safe Horsepower : HP = W V 33,000 Gear Thrust : T = 126,050 x HP tan a cos b RPM x D

  22. MINIATUREUNMANNEDAERIALVEHICLE Central Fan Assembly - CFA Gearing Calculations Maximum Values

  23. Rear Fan Assembly - RFA Stepper Motor Rudder Shaft Rear ducted Fan Rudder

  24. (m, U, p, A)1 2 3 (m, U, p, A)4 Rear Fan Assembly - RFA Basic Principles and Assumptions • Thrust from the rear fan can be found using the same principles and assumptions as those for the central fan assembly. • Isentropic Flow • Incompressible Flow (except at fan) • MUAV is moving at relatively low speeds • Exit flow exhausts to ambient pressure • Change in temperature is negligible • Change in height is negligible • There is no heat addition Control Volume

  25. Rear Fan Assembly - RFA Computation • From the control volume diagram, equation (2) takes the form: (4) • But since, • At exit, pressure is exhausted to ambient conditions • => • From Bernoulli’s Equation Therefore, (5)

  26. Rear Fan Assembly - RFA Computation • From Continuity equation: • Assuming :ΔT = 0; • change in height of the fluid is negligible, • no heat is added to the control volume, • then equation (3) becomes: (6) • Solving equation (6) in terms of V4 we get: (7)

  27. Rear Fan Assembly - RFA Conclusion • By substituting equation (7) into equation (5) for V4 we get thrust as a function of power, if the density, exit area and mass flow rate are known. (9)

  28. Thrust Optimization Rear Fan Assembly - RFA To find optimum inlet area, solve for A1. Since 2nd derivative is less than zero, we have a maxima

  29. Rear Fan Assembly - RFA Weight: 73 gramsDuct Diameter: 63.9mm (2.52") Info from http://www.balsapr.com

  30. Rear Fan Assembly - RFA

  31. (0, r, 0) (z) (0, 0, 0) (y) (0, -r, 0) (x) (r, 0, -h) (2r) (h) Rear Fan Assembly - RFA Incoming air into duct

  32. Rear Fan Assembly - RFA • The length and rudder curvature calculations were performed on the semi-cylindrical portion of the external add-on duct. • Using the three point form of the equation of a plane, the equation of the frustrum is derived to be  hx + rz = 0 • Finally parametrizing the curve and placing the curved surface such that it is located in a amore convenient plane, we get:

  33. Rear Fan Assembly - RFA L • The length of the tongue (measured down the center of the face) could then be obtained by setting t = r. Further calculations would provide the best duct to rudder fit contour to prevent the loss of thrust due to loss of air moving through the rudder cross-section.

  34. Two Components Engine Support Vehicle Support Allow for at least 1” of clearance Landing Gear Assembly - LGA

  35. Landing Gear Assembly - LGA • Engine Support • Holds the engine in place • Prevents vibration • 222 Fiberglass Composite • 1/4 “ Foam Core • Attached to vehicle with strong composite adhesive

  36. Landing Gear Assembly - LGA • Vehicle Support • Supports entire vehicle • Balsa wood rods wrapped in 222 Fiberglass composite • Flat Composite plate at end for attachment • Spongy Material at bottom end for cushioned landing • 3 rods spaced 120 degrees apart at equal distances • Attached to vehicle with strong composite adhesive

  37. Stress calculation in vehicle support Landing Gear Assembly - LGA W 15o 7/16” Dia L Wy Cross-section Wx 75o R

  38. Landing Gear Assembly - LGA Wy Resolve weight and reaction forces into axial components for stress analysis Wx L Rx Ry

  39. Landing Gear Assembly - LGA Material Choices

  40. Shroud & Wing Assembly - SWA Shroud Aerodynamics

  41. Shroud & Wing Assembly - SWA Shroud Aerodynamics • Test to find the experimental lift and drag coefficients of the outer shroud.

  42. Shroud & Wing Assembly - SWA

  43. Shroud & Wing Assembly - SWA Shroud Aerodynamics • Summary of Lift and Drag data collected for an angle of attach of zero at different free-stream velocities and Reynolds numbers.

  44. Shroud & Wing Assembly - SWA Materials • Carbon-Fiber composite for outer body • will withstand tensile and bending loads • provide an outer aerodynamic surface • Foam for inner body • will withstand shear forces • will also hold the internal components in place

  45. 2 9V batteries will be combined in series to supply near 16V to all onboard electronics. The 1500 mAh can deliver up to 12A continuously and it will be used to power the Tail Fan. Power Supply

  46. MINIATUREUNMANNEDAERIALVEHICLE We Got Power!! • Battery Supply #1 (Onboard Electronics) • VARTA 9V Ni-MH Rechargeable • 150 mAh, 46 grams • Battery Supply #2 (Rear Fan Assembly) • Kokam 7.4V Li-Poly Pack • 1500mAh, 81grams AMAZING!!! • Can deliver up to 12A continuously • Sensors • MAX 1259 Battery Monitor • Power Control • 7800 Series Regulators • 7805 for electronics (+5V) • 7812 for communication devices (+12V) • Maintenance • Battery Charger NB:- A small circuit board will incorporate all IC’s and other electronic components.

  47. Engine is Fuel Powered 2 Separate Battery Packs High Flexibility. Best suited for ECE & MAE Teams MINIATUREUNMANNEDAERIALVEHICLE The Power Grid

  48. ECE Control

  49. Microcontroller

  50. Feedback Device - Camera St 100

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