Uninhabited Air Vehicle Team (UAV Team) Multi Purpose UAV Team Members: Maria Luviano Roland Chen Juan Pablo Barquero Shing Chi Chan Tom Guyette Karla Lima Solomon Yitagetsu Wess Gates Faculty Advisors: Dr. Chivey Wu Dr. Helen Boussalis 11/19/09 1 NASA Grant NNX08BA44A
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Uninhabited Air Vehicle Team (UAV Team) Multi Purpose UAV
S P A C E Structures, Propulsion, And Control Engineering C e n t e r. Uninhabited Air Vehicle Team (UAV Team) Multi Purpose UAV. Faculty Advisors: Dr. Chivey Wu Dr. Helen Boussalis. Team Members: Maria Luviano Roland Chen Juan Pablo Barquero Shing Chi Chan - PowerPoint PPT Presentation
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Uninhabited Air Vehicle Team(UAV Team)
Multi Purpose UAVTeam Members:Maria Luviano
Roland Chen
Juan Pablo Barquero
Shing Chi Chan
Tom Guyette
Karla Lima
Solomon Yitagetsu
Wess Gates
Faculty Advisors:Dr. Chivey WuDr. Helen Boussalis
11/19/09 1NASA Grant NNX08BA44A
Overview
Project requirements Mission profile UAV design Computational fluid dynamics UAV structures Avionics Servo bench testing Flight control system Trainer integration Budget and schedule
General I/O (Including Servo)♦ Twelve (12) configurable GPIO lines
Other I/O♦ CAN: Simulation / General Interface
Flight Termination: Deadman output
Electrical♦ Vin: 8 - 20 volts
Power: 4 W (typical - including 900 MHz radio)
Mechanical♦ Size: 142 x 46 x 62 mm unflanged
(5.6 x 1.8 x 2.4 inches) ♦ Weight: 220 grams with 900 MHz radio
(7.7 oz)
Piccolo System Avionics:♦ Avionics Hardware and software,♦ Ground-station hardware and software
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Arcturus T-15 Flight Plan
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Model – T60 (trainer)
Wing span: 1.7653m Wing area: 0.5658 m^2 Engine: Tower Hobbies – 2 stroke .61 cu Dry weight: 7.5 lbs Max weight: 8.5lbs Cruise speed: 13 m/s
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Flight Control System Lab Environment Simulation
Hobbies Trainer 60
Learn how to operate the system in an lab environment
Software in the loop♦ Piccolo Plus executable♦ Ground station executable♦ Develop Dynamic Models
Aerodynamic Model Inertia Data Model Propeller Model Engine Model
Fly the UAV model in the simulator♦ Develop autopilot gains ♦ Flying initial mission
Hardware in the loop♦ Piccolo Plus Autopilot♦ Ground Station♦ Controller Area Network (CAN)
Integration to Piccolo Avionics♦ Airframe Installation♦ Control Surface Calibration
Developing an aircraft model for CCT♦ Measure aircraft geometry, pull data from
3-view / solid model [PHD Thesis parameters] [COMPLETED]
♦ Determine Center Of Gravity location [COMPLETED]
♦ Create AVL model [COMPLETED]
♦ Refine AVL model with XFoil data [COMPLETED]
♦ Generate XML aerodynamics model file [COMPLETED ]
♦ Model aircraft inertia data [COMPLETED]♦ Create prop model ♦ Create engine model♦ Create Piccolo Simulator model template♦ Set up Piccolo autopilot configuration (control
Screen=PROD&Product_Code=TDH6&qts=googlebase&qtk=TDH6 http://www.delta7bikes.com/shop-bike.htm Anderson Jr, John D. Aircraft Performance and Design. Mcgraw Hill
1999
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Reference
http://www.powerelectronics.com Mr. Frank Unk, the Boeing Company Wikipedia http://www.sengpielaudio.com/calculator-cross-section.htm http://www.batteryuniversity.com/partone-5A.htm http://www.mpoweruk.com/performance.htm Universal Serial Bus Specification, USB-IF http://www.usb.org http://en.wikipedia.org/wiki/Torque http://en.wikipedia.org/wiki/Torque http://www.copperhillmedia.com/VisualSizer/MotorSizingArticles.html http://www.electricmotors.machinedesign.com/guiEdits/Content/bdeee3/
bdeee3_1.aspx http://rmsmotion.com/resources/step_basics_v1_0.pdf A Comprehensible Guide to Servo Motor Sizing by Wilfried Voss http://www.powerstream.com/Wire_Size.htm http://www.66pacific.com/calculators/wire_calc.aspx
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Thank You
AdvisorsDr. Boussalis
Dr. WuDr. Guillaume
Dr. PhamDr. Liu
SupportNhan Doan
Long Ly
Winston Young
Michael Tran
Alan Ko
Cloudcap Technical Support
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Backup Slides
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Payload
http://www.safetycitystore.com
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Round off to 0.75 in11/19/09 74NASA Grant NNX08BA44A
Payload
http://www.safetycitystore.com
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The Study of Lithium-ion Polymer Battery
No metal battery cell casing Light weight Higher energy density ~20% >= traditional Li-ion battery Cell voltage (2.7V - 4.23V) Requires “overcharging” protection circuit Requires longer charge time Has a slower discharge rate
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The Study of Lithium-ion Polymer Battery (cont.)
Fully charge or discharge a Li-ion battery shortens the battery life
Slow charging current is recommended for extended battery life. Usually charging at a fraction of 1/5 is ideal.
Charging at the rate of C/5 will yield a 85% charged battery or 4.1V
C = charging current; for a typical 2000mAh battery charging at C/2 or C/x will complete the charging cycle in 2 hours or x hour(s).
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Battery performance (Discharge rate)
Like others, Lithium-ion batteries would maintain the voltage of the cell as long as the discharge rate is kept slow
With a larger load, meaning a higher discharge rate, the battery would yield a lower potential (V)
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Battery performance (Discharge rate)
Lithium-ion batteries typically have a higher nominal potential (Voltage = 3V)
The Li-ion battery generally has a peak voltage at 4.23V
For a rough estimate, the Li-ion battery would have lost about 0.6V when 90% of the capacity is discharged. In our case, we multiple that lost by 3 since we have a 3-cell battery which yields a 1.8V dropped at low capacity
Ideal operational range
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The discharge rate of the battery(s) (Temperature)
Lithium-ion batteries does not operate well in extreme temperatures.
In the lower end, the battery provides less capacity and hence drain faster
In the upper end, the battery’s active chemicals may break down and possibly destroy the battery
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Some batteries comparison
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Battery comparison (Energy Density)
Lithium-ion Polymer battery clearly has the highest energy density when compared to others
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Wire Gauge Characteristics
By research, 16 - 18 AWG wire seem appropriate for our application
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The study of “voltage" dropped across various wire gauge
Formula for calculating voltage drop
Δ V = I · R = I · (2 · e · ρ / A)I = Current in ampere
e = Wire length in meters (times 2, because there is always a return wire)
ρ = Rho, specific resistance for copper = 0.01785 ohm·mm²/m(Ohms for 1 m length and 1 mm2 cross section area of the wire)
A = Cross section area in mm2
For example, For AWG 16 wire, the wire diameter d=1.2909mm, cross section area A=1.3 mm2
So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/1.3) = 0.02746 e(I)
For AWG 18 wire, the wire diameter d=1.02mm, cross section area A=0.82 mm2
So the voltage dropped = Δ V = I · R = I · (2 · e · 0.01785/0.82) = 0.04354 e(I)
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Wire Impedance Impact
Based on the preliminary wire gauge preference 1:♦ Copper wire
♦ 20 AWG
♦ 12V DC
♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)
♦ 9 A for the load (Flap Servos for max. power consumption)
Based on the preliminary wire gauge preference 2:♦ Copper wire
♦ 16 AWG
♦ 12V DC
♦ ~16 ft (round trip) in length for ½ of the aircraft (1 wing)
♦ 9 A for the load (Flap Servos for max. power consumption)
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Wire Impedance Impact (cont.)
Preference 1 Preference 2
Type Copper Type Copper
Gauge 20 AWG Gauge 16 AWG
Voltage 12V Voltage 12V
Length (round trip) 16 ft Length (round trip) 16 ft
Current for LOAD 9A Current for LOAD 9A
Voltage drop across wire 1.505V Voltage drop across wire 0.6V
Voltage at load end of circuit 10.495V Voltage at load end of
circuit 11.4V
% of voltage drop 12.54% % of voltage drop 5.00%
Wire total weight 0.0499 lbs Wire total weight 0.1263 lbs
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Servo Motor trade study
Servo Motor♦ Servo Motors are basically DC motor + control system (internal) which
listens to PWM signals. The control system would then translate the PWM signals into position commands by regulating the desire input voltage to the motor.
♦ The advantage Utilize the PWM which is sort of a mature standard in servo motor control. Reliability Small scale
♦ The disadvantage Requires control mechanism which translate the signal (This is usually
included with the motor, however) Precision depends on the input voltage which can become a problem
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360 oz-in
Torque Requirements
According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings
For the canard wing, no servo will be required! (Updated)
For the rectangular wing, (1/2 of the body) = 360 oz-in
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Power Distribution / Wiring Diagram (Ground Station)
Car alternator/battery supplying 12V steady power
Piccolo Controller requires a 12V voltage which can be obtained directly from the car power source
Ground station would require an additional step-up transformer in order to provide 16V out of 12V
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USB 2.0 Speed and Operational Speed (Transfer Speed)
USB 2.0 is backward compatible with the prior USB1.1 and USB1.0 standard
USB 2.0 has 3 different speed modes: Low-Speed, Full-Speed, and High-Speed
Low-Speed has a transfer rate of 10 – 100 kbits/s Full-Speed has a transfer rate of 500 kbits/s – 10Mbits/s High-Speed has a transfer rate of 25 – 400Mbits/s Typically, a USB cables are made with 28 AWG wires
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Low/Full Speed USB 2.0 Transfer Speed Identification
The Low / Full Speed is determined from the placement of the differential resistor Rpw
In other words, it’s unlikely to degrade the speed mode due to a variation of a potential difference in the data signal
However, for High-Speed mode a steady 3.3V would need to be maintained; a lousy USB cable with high impedance would keep the speed from reaching the High-Speed mode
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360 oz-in
Torque Requirements
According to Maria, here’s the breakdowns of the required torque for the servos to operate the wings
For the canard wing, no servo will be required! (Updated)
For the rectangular wing, (1/2 of the body) = 360 oz-in