single line tethered glider - rochester institute of...

Single Line Tethered Glider

Team P14462

Sub-System Level Design Review

Jon Erbelding

Paul Grossi

Sajid Subhani

Kyle Ball

Matthew Douglas

William Charlock

10/24/2013 Subsystem Level Design Review P14462

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


Agenda

● Project Description Review

● Engineering Requirements Review

● Top 3 Concepts from Last Review

● Concept Feasibility

● Glider Analysis and Feasibility

● Base Station Analysis and Feasibility

● Project Planning

● Work Breakdown Structure


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


Engineering Requirements Metric No. Metric Marginal Value Ideal Value Units

1 Wingspan <=2 <1 m

3 System Cost <500 $

4 Length of Looping Flight >2 >=3 min

5Resolution of Tension

Data<=0.1 <=0.01 N

6Resolution of Angular

Position Data<=0.5 <=0.1 deg

7 Typical Repair Time 5 3 min

8 Data Sampling Rate >=100 >=500 Hz

9Minimal Operational Wind

Speed at Ground Level5 2.5 m/s

10

Maximum Operational

Wind Speed at Ground

Level

5 10 m/s

11Safe for User and

ObserverYes Yes Binary

12Number of Looping Trials

Demonstrated>=25 >=30 Integer

13 Training Time (1st Time) <30 <20 min

14Number of Left Right

Horizontal Trials>=25 >=30 Integer

15 Tether length >=15 >=30 m

16Glider Orientation

KnowledgeBridle angle

Bridle, yaw,

attack, & roll

angles

deg

Yellow: Major design

Biege: DAQ

Grey: Test flight

White: System environment


Review of Top 3 System Concepts

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

Axis Load Cell


Glider Analysis


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

$120

Phoenix 2000 EPO Foam

Wing span: 2 [m]

Chord length: 0.3 [m]

Mass: 0.98 [kg]

Front mounted propeller

Reinforced

$150


Price Sheet for Glider


Choosing the Glider

The smaller Bixler glider creates less

tension for a larger operating range

Able to operate with an affordable load cell


Flight Orientation


Flight Analysis

Wind Speed: ~ 11 mph


Flight Analysis



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)


Quantitative DOE

Choosing flight configuration

Decision variables

Beta angle

Tether length

Flight path radius

Constraints

Maximum allowable tension

Observed wind speed


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


Proposed Tether and Bridle Design


Ideal Bridle Location Analysis

Optimum tether location: 0.51 m from root.

Optimum tether angle: 54 deg from airplane


Wing Stress Analysis


Wing Stress Analysis

Maximum stress: 15 MPa


Fuselage Stress Analysis


Tether and Bridle Configuration


Base Station Analysis

and Feasibility


2 Potentiometers and Single-Axis

Load Cell

Concept 1


Vertical Rotation


𝛿𝛽 = 𝛿𝜃 + 𝛿𝛾 = 0.5 𝑑𝑒𝑔

𝛿𝛾 = 0.5 − 𝛿𝜃 = cos−1𝑟 + 𝐿𝑐𝑜𝑠(𝛿𝜑)

𝐿2 + 𝑟2 + 2𝑟𝐿𝑐𝑜𝑠(𝛿𝜑)

Solve for maximum allowable 𝛿𝜑

such that the resolution

requirement is met, and load cell

begins to move

Metric No. Metric Marginal Value Ideal Value Units

6 Resolution of Angular

Position Data <=0.5 <=0.1 degree

Engineering Spec Considerations

From application of

Law of Cosines


Static Analysis

𝑀𝑜 = 𝑇𝑟𝑠𝑖𝑛 𝛿𝜑 −𝑊𝐿𝐶𝑑𝑐𝑜𝑠 𝜃𝑏 −𝑀𝑝𝑜𝑡 −𝑀𝑏𝑒𝑎𝑟 = 0

∴ 𝑇 =𝑀𝑝𝑜𝑡 +𝑀𝑏𝑒𝑎𝑟 +𝑊𝐿𝐶𝑑𝑐𝑜𝑠(𝜃𝑏)

𝑟𝑠𝑖𝑛(𝛿𝜑)


Dynamic Analysis

𝑀𝑜 = 𝑇𝑟𝑠𝑖𝑛 𝛿𝜑 −𝑊𝐿𝐶𝑑𝑐𝑜𝑠 𝜃 − 𝑀𝑝𝑜𝑡 −𝑀𝑏𝑒𝑎𝑟 = 𝐼𝐿𝐶𝛼

∴ 𝑇 =𝐼𝐿𝐶𝛼𝑏 +𝑀𝑝𝑜𝑡 +𝑀𝑏𝑒𝑎𝑟 +𝑊𝐿𝐶𝑑𝑐𝑜𝑠(𝜃𝑏)

𝑟𝑠𝑖𝑛(𝛿𝜑)

𝛼𝑏 =𝑑𝜔𝑏𝑑𝑡 𝑤ℎ𝑒𝑟𝑒 𝜔𝑏 =

𝜔𝑝𝑅𝑐𝑜𝑠 𝜃𝑝𝐿 + 𝑟

𝑤ℎ𝑒𝑟𝑒 𝜃𝑝 = 𝜔𝑝𝑡


Horizontal Rotation


Static Analysis

𝑀𝑜 = 𝑇𝑟𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛 𝛿𝜆 −𝑀𝑝𝑜𝑡 −𝑀𝑏𝑒𝑎𝑟 = 0

∴ 𝑇 =𝑀𝑝𝑜𝑡 +𝑀𝑏𝑒𝑎𝑟𝑟𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛(𝛿𝜆)


Dynamic Analysis

𝑀𝑜 = 𝑇𝑟𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛 𝛿𝜆 −𝑀𝑝𝑜𝑡 −𝑀𝑏𝑒𝑎𝑟 = 𝐼𝐿𝐶𝛼𝑏

∴ 𝑇 =𝐼𝐿𝐶𝛼𝑏 +𝑀𝑝𝑜𝑡 +𝑀𝑏𝑒𝑎𝑟𝑟𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛(𝛿𝜆)

𝛼𝑏 =𝑑𝜔𝑏𝑑𝑡 𝑤ℎ𝑒𝑟𝑒 𝜔𝑏 =

𝜔𝑝𝑅𝑠𝑖𝑛 𝜃𝑝𝐿 + 𝑟

𝑤ℎ𝑒𝑟𝑒 𝜃𝑝 = 𝜔𝑝𝑡


3 Single-Axis Load Cells

Concept 2


CAD Model

● 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


Base Station Cost Feasibility


Base Station Equipment

Phidgets 3140_0 – S Type Load Cell Bourns 3540S-1-103L Potentiometer


Initial Base Station Budget Comparison

P14462 Purchase List for 3 Load Cell Base Station

Part Description Unit Price Qty Individual Total

Phidgets 3140_0 - S Type Load Cell 50 3 150.00

Ball End Joint Rod 3.78 6 22.68

Shipping 0.00

Total Order Price 172.68

P14462 Purchase List for Potentiometer Base Station

Part Description Unit Price Qty Individual Total

Phidgets 3140_0 - S Type Load Cell 50 1 50.00

Bourns 3540S-1-103L Potentiometer 20 2 40.00

Miniature Aluminum Base-Mounted Stainless Steel Ball Bearings—

ABEC-3 14.92 2 29.84

Flanged Open 1/2 Inch Ball and Roller Bearing 7.61 1 7.61

Shipping 0.00

Total Order Price 127.45


Project Planning Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Week 12 Week 13 Week 14 Week 15 Week 16

26-Aug 2-Sep 9-Sep 16-Sep 23-Sep 30-Sep 7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-Nov 18-Nov 25-Nov 2-Dec 9-Dec

Phase 1

Team Organization

Problem Definition and comprehension

Research complimentary projects

Week 3 Presentation preparation

Phase 2

Update critical needs on EDGE website

Acquire Glider Flight Skills

Functional Decomposition

Benchmarking base stations

Benchmarking marketable Gliders

Determine PUGH Diagram

Critical eng. theory ID and comprehension


Phase 3

Price compare bought gliders/order glider

Theoretical flight simulation development

Use simulation to calculate feasible tension values

Develop preliminary base station sketches and CAD models

Preliminary base station calculations for feasibility

Understand components of DAQ

Identify critical components of DOE


Phase 4

Budget approval

Finalize base station calculations

Fly glider and understand effects of tether

Develop implementation of tether/bridal

Investigate glider reinforcement options (Carbon fiber)

Refine simulation to aid DOE

Create algorithm to meet DOE needs

Determine specific sensors and building materials

Begin to develop/modify LabVIEW code for DAQ


Phase 5

Order Materials

Week 16 Presentation

Gate Review - "Green Light"

Legend

Complete

WIP

Incomplete


Project Planning

Week 7 Week 8 Week 9 Week 10 Week 11 Week 12

7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-Nov

Phase 3

Price compare bought gliders/order glider

Theoretical flight simulation development

Use simulation to calculate feasible tension values

Develop preliminary base station sketches and CAD models

Preliminary base station calculations for feasibility

Understand components of DAQ

Identify critical components of DOE


Phase 4

Budget approval

Finalize base station calculations

Fly glider and understand effects of tether

Develop implementation of tether/bridal

Investigate glider reinforcement options (Carbon fiber)

Refine simulation to aid DOE

Create algorithm to meet DOE needs

Determine specific sensors and building materials

Begin to develop/modify LabVIEW code for DAQ



Incomplete Tasks from Phase 3

● Control and stability calculations

● DAQ system development (setup, code)

● Sensors analysis (calibration, implementation)


Work Breakdown Structure (10-12)

● Paul: Tether and glider reinforcement and DOE

● Jon: Finalize base station calculations, sensors

and build materials

● Kyle: Finalize base station calculations,

sensors and build materials

● Matt: Tether and glider reinforcement and DOE

● Saj: Continue to develop DOE, create DOE

algorithm, team management

● Bill: Purchase glider, develop/modify LabVIEW

for DAQ, sensors and build materials


Questions?

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