Single Line Tethered Glider

Team P14462Sub-System Level Design Review

Jon ErbeldingPaul Grossi

Sajid Subhani

Kyle BallMatthew DouglasWilliam Charlock

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Team Introduction

Team Member Major

Sajid Subhani Industrial Engineer - Team Lead

Paul Grossi Mechanical Engineer

Matt Douglas Mechanical Engineer

Jon Erbelding Mechanical Engineer

Kyle Ball Mechanical Engineer

Bill Charlock Mechanical Engineer

9/30/2013 Systems Level Design Review P14462

Agenda● Project Description Review● Engineering Requirements Review● Functional Decomposition Review● Top 3 Concepts from Last Review● Concept Feasibility

● Glider Analysis and Feasibility● Base Station Analysis and Feasibility

● Project Planning● Work Breakdown Structure

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Project Description Review● Goal: Design, build, and test a tethered,

small-scale, human-controlled glider.

● Critical Project Objectives:○ Maintain maximum tension on the tether○ Sustaining horizontal and vertical flight

paths○ Measure and record tether tension and

position○ Understand the influential parameters for

sustained, tethered, unpowered flight

Glider

Tether

Base Station

Operator w/controller

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Engineering Requirements

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Functional Decomposition

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Review of Top 3 System Concepts

3 Single Axis Load Cell IMU with Single Axis Load Cell 2 Potentiometers with Single Axis Load Cell

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Glider Analysis

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Choosing the Glider

Bixler v1.1 EPO Foam Wing span: 1.4 [m] Chord length: 0.2 [m] Mass: 0.65 [kg] Middle mounted propeller Only EPO Foam

Phoenix 2000 EPO Foam Wing span: 2 [m] Chord length: 0.3 [m] Mass: 0.98 [kg] Front mounted propeller Reinforced

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Choosing the Glider The smaller Bixler glider creates less

tension for a larger operating range Able to operate with an affordable load cell

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Flight Orientation

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Flight Orientation

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Flight Analysis

Wind Speed: ~ 11 mph

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Flight Analysis

Wind Speed: ~ 22 mph

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Flight Analysis

Wind Speed: ~ 44 mph

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Qualitative DOE

Slower wind speed: lower tension

Larger flight path radius: lower tension

Beta angle peaks: ~ 94-95°

Tension peaks: ~ 20 [m] tether length

Tension must be less than 5000 [N] (1100 lbs)

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Quantitative DOE Choosing flight configuration

Inputs Maximum allowable tension Observed wind speed

Outputs Beta angle Tether length Flight path radius

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Bridle and Tether Setup Use a tension of 3000 lbs as an overestimate.

Maximum allowable stress for Bixler glider: 30 MPa

Bridle attached at two points on the fuselage causes structural failure at the wing root with 180 MPa

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Proposed Tether and Bridle Design

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Ideal Bridle Location Analysis

Optimum tether location: 0.51 m from root. Optimum tether angle: 54 deg from airplane

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Wing Stress Analysis

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Wing Stress Analysis

Maximum stress: 15 MPa

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Fuselage Stress Analysis

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Tether and Bridle Configuration

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Base Station Analysis and Feasibility

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2 Potentiometers and Single-Axis Load Cell

Concept 1

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Vertical Rotation

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Static Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=0∴𝑇=

𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶𝑑𝑐𝑜𝑠(𝜃)𝑟𝑠𝑖𝑛(𝛿𝜑)

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Dynamic Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=𝐼𝐿𝐶𝛼∴𝑇=

𝐼𝐿𝐶𝛼+𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶 𝑑𝑐𝑜𝑠(𝜃)𝑟𝑠𝑖𝑛(𝛿𝜑)

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Dynamic Analysis Continued

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3 Single-Axis Load Cells● Created 3-D model of the system in SolidWorks● Works well when the ball joints are kept in

tension as seen in Fig 1.● Ball joints fail when they are put into

compression as seen in Fig 2.

Fig. 1 Fig. 2

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Base Station EquipmentPhidgets 3140_0 – S Type Load

CellBourns 3540S-1-103L Potentiometer

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Initial Base Station Budget ComparisonP14462 Purchase List for 3 Load Cell Base Station

Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 3 150.00Ball End Joint Rod 3.78 6 22.68Shipping     0.00

Total Order Price     172.68

P14462 Purchase List for Potentiometer Base Station

Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 1 50.00Bourns 3540S-1-103L Potentiometer 20 2 40.00Miniature Aluminum Base-Mounted Stainless Steel Ball Bearings—ABEC-3 14.92 2 29.84Flanged Open 1/2 Inch Ball and Roller Bearing 7.61 1 7.61Shipping     0.00

Total Order Price     127.45

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Project Planning

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Project Planning

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Work Breakdown Structure (10-12)● Paul: ● Jon: ● Kyle: ● Matt: ● Saj: ● Bill:

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Questions?