Dr.One Friday, 27 June 2014 Realizing a small UAV for medical transport in developing countries Master thesis: Ferdinand Peters 1
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
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Dr.One Friday, 27 June 2014 Realizing a small UAV for medical transport in developing countries Master thesis: Ferdinand Peters 5
Outline presentation Problem definition Design Design Tool Body Wings Propulsion Example design Dynamics & Control Dynamic analysis Control design 6
Problem Definition Source: www.fayzwordz.wordpress.com 7
Problem Definition 8
Possible applications Urgent medical supply Final link in the supply chain Unreachable locations Blood sample collection & Lab on a chip 9
Design Requirements Vertical take-off and landing (VTOL) Long range High flight speed Autonomous flight Mechanically simple Source: www.mikrokopter.de Low cost Unit Maintenance Manufacturing Mechanically simple Source: www.unmannedgroup.com Locally produced and designed 10
Design Chosen configuration 4 motor Hybrid flying wing Electric powered Inexpensive materials Minimize moving parts 11
Design Flexible design Automatic sizing for different payloads Source: mytransfusion.com Source: aimlab.com Source: http://www.npsg.uwaterloo.ca/ 12
Design Tool Main focus points Scalability Easy to use Modular approach Affordibility 13
Design Tool Sequence Body sizing Wing sizing Motor selection Propeller selection 14
Body sizing Side-plane 3D-Body Front-plane: Cosine 15
Wing Sizing Parameterization 16
Wing sizing Flight condition 17
Wing sizing Objective function 18
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
Motor Selection Test comparison 20
Propeller Selection Propeller performance characteristics Windtunnel data Source: http://aerospace.illinois.edu/ 21
Propeller Motor matching Static 22
Propeller Motor matching Dynamic 23
Example design GUI Are you ready to design your first Dr.One? 24
Production 3D-milling & hot wire cutter 25
Outline presentation Problem definition Design Design Tool Body Wings Propulsion Example design Dynamics & Control Dynamic analysis Control design Validation of dynamic model 26
Control Vertical mode 27
Control Horizontal mode 28
Control design Possible control loop PID Feedback controller Input: 4 rotational velocities Output: 12 states (3 translations, 3 rotations and their velocities) 29
Dynamic model Modified model by Skander Tamallaah (NLR) Rigid body dynamics 30
Dynamics Analysis Trim 31
Dynamics Analysis Linearized system 32
Control Design Pitch control 33
Control Design Yaw and roll control check 34
Validation of dynamic model Flight tests Accurate flight data High frequency (100 Hz) Log platform: IMU Barometer RPM sensors 35
Validation of the log platform Flight test 36
Back up slides 37
Body sizing Cosine vs Spline 38
Wing Sizing Airfoil MH-60 Tailless aircraft: Zero pitch airfoil 39
Wing Sizing Lift and drag forces 40
Wing sizing Lift and drag coefficients 41
Wing Sizing Minimum drag 42
Motor Selection Motor performance characteristics 43
Motor Selection Motor performance characteristics 44
Motor Selection Motor performance characteristics 45
Total Efficiency Curve(1) Consistent variables 46
Total Efficiency Curve(1) Consistent variables 47
Control Design Pitch control 48
Control Design Pitch control: Differential gain 49
Control Design Pitch control: PI controller gain scheduling 50
Control Design Pitch control: simulation 51
Control Design Pitch control: simulation PI 52
Control Design Pitch control: simulation PID 53
Validation of dynamic model Procedure Cross reference flight data output with model input 54
Validation of dynamic model Flight tests Accurate flight data: Attitude Velocities (translational and rotational) Accelerations (translational and rotational) High frequency (100 Hz) 55
A possible control loop Lisa/M 56
Dynamic model Modified model by Skander Tamallaah (NLR) State vector 57
Dynamic analysis Dutch roll 58