UAV Research InternationalUAV Research International““Providing integrated consultation to MAV project Providing integrated consultation to MAV project

engineers at Eglin AFB”engineers at Eglin AFB”

Chris McGrathChris McGrathNeil GrahamNeil Graham

Alex von OetingerAlex von OetingerJohn DascombJohn Dascomb

Sponsor :Sponsor :Dr. Gregg AbateDr. Gregg Abate

December 6, 2005December 6, 2005

OVERVIEWOVERVIEW

Problem StatementProblem Statement Design SpecificationsDesign Specifications Project PlanningProject Planning Design Selection Design Selection Procedure for DesignProcedure for Design Cost AnalysisCost Analysis Spring Proposal Spring Proposal ConclusionConclusion

Problem StatementProblem Statement

To design a means of testing MAV flight To design a means of testing MAV flight dynamics in an indoor facility dynamics in an indoor facility

Project SpecsProject Specs

Weight Weight 100 – 200 grams (g) 100 – 200 grams (g) Flight Speed Flight Speed 0 – 25 meters per second 0 – 25 meters per second

(m/s)(m/s) Exterior Material Exterior Material Carbon Fiber Composite Carbon Fiber Composite Wing Tip Length Wing Tip Length 15 – 30 centimeters 15 – 30 centimeters

(cm)(cm) MAV Flight Control MAV Flight Control Both 2 and 3 axis Both 2 and 3 axis Type of Thrust Type of Thrust Pusher, Puller, None Pusher, Puller, None

Design Selection:Design Selection:Free Flight Wind TunnelFree Flight Wind Tunnel

The free flight wind tunnel has been The free flight wind tunnel has been successfully created before successfully created before

Design is basically a conventional Design is basically a conventional wind tunnel modified to allow for wind tunnel modified to allow for actual free flight of the test subjectactual free flight of the test subject

Force balance achieved around Force balance achieved around

the center of gravity of the MAV, the center of gravity of the MAV, essentially canceling out the essentially canceling out the force from the incident wind force from the incident wind tunnel flow with the thrust of the tunnel flow with the thrust of the engineengine

Project PlanningProject Planning

Final design analysis divided into 3 section:Final design analysis divided into 3 section:

– Tunnel geometry Tunnel geometry Design of wind tunnel ductingDesign of wind tunnel ducting Selection of fan flowSelection of fan flow Settling screen and honeycomb selectionSettling screen and honeycomb selection

– InstrumentationInstrumentation Onboard measurementOnboard measurement Data collection/display Data collection/display

– MAV handlingMAV handling Control and release of the MAV inside the tunnelControl and release of the MAV inside the tunnel

Project Planning: Project Planning: Flow ChartFlow Chart

Design ProcedureDesign Procedure

Design Procedure is broken down into five Design Procedure is broken down into five main sections:main sections:– Wind Tunnel DesignWind Tunnel Design– Flow QualityFlow Quality– Flow FanFlow Fan– InstrumentationInstrumentation– MAV HandlingMAV Handling

Wind Tunnel DesignWind Tunnel Design

In wind tunnel design In wind tunnel design Three properties are Three properties are most important to most important to consider:consider:

– Test section DimensionsTest section Dimensions

– Flow qualityFlow quality

– Tunnel geometryTunnel geometry

Wind Tunnel Design:Wind Tunnel Design:Test section DimensionsTest section Dimensions

At its maximum area, wind At its maximum area, wind tunnel must be 6 times that of tunnel must be 6 times that of the test sectionthe test section

The test section should give The test section should give ample area for the MAV to flyample area for the MAV to fly

For the minimum analysis of the For the minimum analysis of the flight, the MAV needs to move flight, the MAV needs to move laterally or vertically twice its laterally or vertically twice its wingspan wingspan

Wind Tunnel Design:Wind Tunnel Design:Test section Dimensions (continued)Test section Dimensions (continued)

For the largest MAV (12” wingspan) to be tested in tunnel For the largest MAV (12” wingspan) to be tested in tunnel we would need 2 feet of flying area in any given direction or we would need 2 feet of flying area in any given direction or roughly a 4ft x 4ft test sectionroughly a 4ft x 4ft test section

When moving longitudinally against the flow we will allow When moving longitudinally against the flow we will allow for 10ft of movement for the MAV for 10ft of movement for the MAV

Wind Tunnel Design:Wind Tunnel Design: Flow QualityFlow Quality

The quality of the flow for our The quality of the flow for our application is based on velocity application is based on velocity fluctuations in the direction of the fluctuations in the direction of the airflowairflow

Need a flow quality that has velocity Need a flow quality that has velocity fluctuations of less than 1% of the fluctuations of less than 1% of the

free flowfree flow

Screens and a honeycomb are Screens and a honeycomb are implemented to take out the implemented to take out the rotational and velocity fluctuations rotational and velocity fluctuations of the flow that form when the air of the flow that form when the air passes through the fanpasses through the fan

Wind Tunnel Design:Wind Tunnel Design: Flow Quality (Continued)Flow Quality (Continued)

The most important factor to flow quality is the The most important factor to flow quality is the contraction ratiocontraction ratio

The larger the contraction ratio, the slower the air The larger the contraction ratio, the slower the air flow is when it passes through the screens and flow is when it passes through the screens and honeycombhoneycomb

For a contraction ratio of 6, combined with the For a contraction ratio of 6, combined with the screens and honeycomb, we can achieve a flow screens and honeycomb, we can achieve a flow quality of less than 1%quality of less than 1%

Wind Tunnel Design:Wind Tunnel Design: Tunnel GeometryTunnel Geometry

Two different tunnel Two different tunnel Geometries are Geometries are exploredexplored

– Ideal wind tunnel Ideal wind tunnel

– Constrained wind tunnelConstrained wind tunnel

Wind Tunnel Design:Wind Tunnel Design: Tunnel Geometry – Ideal tunnelTunnel Geometry – Ideal tunnel

Larger tunnel overallLarger tunnel overall

Utilizes full test section and Utilizes full test section and contraction ratiocontraction ratio

Implements a 4.5*4.5 ft test Implements a 4.5*4.5 ft test section to compensate for section to compensate for Boundary phenomenon ( only Boundary phenomenon ( only 80% of area is usable)80% of area is usable)

Test section has length of 10 ftTest section has length of 10 ft

Wind Tunnel Design:Wind Tunnel Design: Tunnel Geometry – Ideal tunnel (continued)Tunnel Geometry – Ideal tunnel (continued)

*ADD ADDITIONAL *ADD ADDITIONAL INFO*INFO*

Wind Tunnel Design:Wind Tunnel Design: Tunnel Geometry – Constrained tunnelTunnel Geometry – Constrained tunnel

Designed to fit inside the space Designed to fit inside the space currently provided at Eglin AFBcurrently provided at Eglin AFB (room measuring (room measuring 40x30x15 ft40x30x15 ft ) )

Only aspect of the ideal tunnel Only aspect of the ideal tunnel that is too large for the room is that is too large for the room is

the tunnel lengththe tunnel length

Need to shorten the tunnel by Need to shorten the tunnel by 21.3 ft21.3 ft

Wind Tunnel Design:Wind Tunnel Design: Tunnel Geometry – Constrained tunnel Tunnel Geometry – Constrained tunnel

(Continued)(Continued) *ADD ADDITIONAL *ADD ADDITIONAL

INFO*INFO*

Flow QualityFlow Quality

Flow quality will be of Flow quality will be of paramount importance paramount importance in tunnel designin tunnel design

Free Flight DiagramFree Flight Diagram

Wind Tunnel GeometryWind Tunnel Geometry

Area required to fly 4 ft x 4 ftArea required to fly 4 ft x 4 ft

Test section area is 4.5 ft x 4.5 ftTest section area is 4.5 ft x 4.5 ft

Test section length greater than 10 ftTest section length greater than 10 ft

Wind Tunnel GeometryWind Tunnel Geometry

Fan SpecificationsFan Specifications

– Mass flow rate: 60.8 kg/sMass flow rate: 60.8 kg/s

– Ideal power needed: 50 hpIdeal power needed: 50 hp

– Diameter of fan: 7.1 ftDiameter of fan: 7.1 ft

Wind Tunnel GeometryWind Tunnel Geometry

Final ExpansionFinal Expansion

– Final area is 8 times test section areaFinal area is 8 times test section area

Wind Tunnel GeometryWind Tunnel Geometry

Tether SystemTether System

Tether LocationTether Location

Tether Restraint and Release SystemTether Restraint and Release System

Tether Reel Tether Reel

Tether LocationTether Location

Above and below MAV’s center of massAbove and below MAV’s center of mass

Restraint and Release System Restraint and Release System

Tether ClampTether Clamp

Tension ReelTension Reel

Miyamae'sMiyamae's Command X-1 Command X-1

InstrumentationInstrumentation

OnboardOnboard

Flow Measurement Flow Measurement

Data Collection SoftwareData Collection Software

Onboard InstrumentationOnboard Instrumentation

Kestrel AutopilotKestrel Autopilot– 16.65 grams (2” x 1.37” x .47”)16.65 grams (2” x 1.37” x .47”)– Three-axis rate gyrosThree-axis rate gyros– AccelerometersAccelerometers– Air pressure sensorsAir pressure sensors

Flow MeasurementFlow Measurement

Pitot-Static TubePitot-Static Tube

Hot-Wire Anemometer Hot-Wire Anemometer

Data Collection SoftwareData Collection Software

Virtual CockpitVirtual Cockpit

LabviewLabview

On-Going Activities On-Going Activities

Source the Fan Source the Fan Find manufacturer to produce settling Find manufacturer to produce settling

screensscreens Create Bill of Materials Create Bill of Materials Build Pro-E model of systemBuild Pro-E model of system