Friday, 27 June Realizing a small UAV for medical transport in developing countries Master thesis: Ferdinand Peters. Dr.One

Transcription

1 Dr.One Friday, 27 June 2014 Realizing a small UAV for medical transport in developing countries Master thesis: Ferdinand Peters 1

2 Definition Drone (bee) From Wikipedia, the free encyclopedia Drones are male honey bees. They develop from eggs that have not been fertilized, and they cannot sting. In the 16th century it was given the figurative sense of 'idler' or 'lazy worker', as male bees make no honey, which is sometimes given as a folk etymology of the word 'drone' itself. Challenge the future 2

3 Google Search (present) Challenge the future 3

4 Google Search (future) Challenge the future 4

5 Dr.One Friday, 27 June 2014 Realizing a small UAV for medical transport in developing countries Master thesis: Ferdinand Peters 5

6 Outline presentation Problem definition Design Design Tool Body Wings Propulsion Example design Dynamics & Control Dynamic analysis Control design 6

7 Problem Definition Source: 7

8 Problem Definition 8

9 Possible applications Urgent medical supply Final link in the supply chain Unreachable locations Blood sample collection & Lab on a chip 9

10 Design Requirements Vertical take-off and landing (VTOL) Long range High flight speed Autonomous flight Mechanically simple Source: Low cost Unit Maintenance Manufacturing Mechanically simple Source: Locally produced and designed 10

11 Design Chosen configuration 4 motor Hybrid flying wing Electric powered Inexpensive materials Minimize moving parts 11

12 Design Flexible design Automatic sizing for different payloads Source: mytransfusion.com Source: aimlab.com Source: 12

13 Design Tool Main focus points Scalability Easy to use Modular approach Affordibility 13

14 Design Tool Sequence Body sizing Wing sizing Motor selection Propeller selection 14

15 Body sizing Side-plane 3D-Body Front-plane: Cosine 15

16 Wing Sizing Parameterization 16

17 Wing sizing Flight condition 17

18 Wing sizing Objective function 18

19 Propulsion sizing Motor performance characteristics Performance data can be acquired from the manufacturer Not always available A test to determine experimentally. Source:mikrokopter.de 19

20 Motor Selection Test comparison 20

21 Propeller Selection Propeller performance characteristics Windtunnel data Source: 21

22 Propeller Motor matching Static 22

23 Propeller Motor matching Dynamic 23

24 Example design GUI Are you ready to design your first Dr.One? 24

25 Production 3D-milling & hot wire cutter 25

26 Outline presentation Problem definition Design Design Tool Body Wings Propulsion Example design Dynamics & Control Dynamic analysis Control design Validation of dynamic model 26

27 Control Vertical mode 27

28 Control Horizontal mode 28

29 Control design Possible control loop PID Feedback controller Input: 4 rotational velocities Output: 12 states (3 translations, 3 rotations and their velocities) 29

30 Dynamic model Modified model by Skander Tamallaah (NLR) Rigid body dynamics 30

31 Dynamics Analysis Trim 31

32 Dynamics Analysis Linearized system 32

33 Control Design Pitch control 33

34 Control Design Yaw and roll control check 34

35 Validation of dynamic model Flight tests Accurate flight data High frequency (100 Hz) Log platform: IMU Barometer RPM sensors 35

36 Validation of the log platform Flight test 36

37 Back up slides 37

38 Body sizing Cosine vs Spline 38

39 Wing Sizing Airfoil MH-60 Tailless aircraft: Zero pitch airfoil 39

40 Wing Sizing Lift and drag forces 40

41 Wing sizing Lift and drag coefficients 41

42 Wing Sizing Minimum drag 42

43 Motor Selection Motor performance characteristics 43

44 Motor Selection Motor performance characteristics 44

45 Motor Selection Motor performance characteristics 45

46 Total Efficiency Curve(1) Consistent variables 46

47 Total Efficiency Curve(1) Consistent variables 47

48 Control Design Pitch control 48

49 Control Design Pitch control: Differential gain 49

50 Control Design Pitch control: PI controller gain scheduling 50

51 Control Design Pitch control: simulation 51

52 Control Design Pitch control: simulation PI 52

53 Control Design Pitch control: simulation PID 53

54 Validation of dynamic model Procedure Cross reference flight data output with model input 54

55 Validation of dynamic model Flight tests Accurate flight data: Attitude Velocities (translational and rotational) Accelerations (translational and rotational) High frequency (100 Hz) 55

56 A possible control loop Lisa/M 56

57 Dynamic model Modified model by Skander Tamallaah (NLR) State vector 57

58 Dynamic analysis Dutch roll 58