Design, Modification and Fabrication of Small VTOL UAV

Under the guidance of

Prof. Gp-Capt Praveen Khanna, VSM

Akshat Srivastava (07) Aseem. H .Salim (12) Shaik Ibrahim (37) T Shan (38) Stanley Boswell (40) Tasdeeq Rahim Sofi (44)

Submitted by:

Road Map Arrival at Design

Material Selection

Frame Design on CATIA

Structural Analysis in CATIA and ANSYS

Flow Analysis in ANSYS

Fabrication

Testing

Comparative Study and Design Selection

A) Fixed Wing B) Rotating Wing a) Vertical Take off b) Fixed wing Vertical Take off A. Two rotor design

1. Transverse rotor design 2. Tilt rotor design ( Bell Boeing V-22 Osprey)

B. Three rotor design ( Tricopter) C. Quad copter design • Two rotor design • Quad rotor Design

Rotating wing configurations ( Vertical Take-off)

Selected the desired configurations

Two major configurations of UAV

Selected Design Comparison

Scorpid 500 UAV Simple Tilt Rotor Configuration

Quad Rotor Configuration

MATERIAL SELECTION

DESIGNING THE FRAME

COMPONENTS OF THE FRAME

SHAPE

PLACEMENT OF ELECTRONIC COMPONENTS

DEFLECTION

PRINCIPAL STRESS

VON MISES STRESS

MAX. SHEAR STRESS

PITCH DIRECTION

YAW DIRECTION

ROLL DIRECTION

CONTROLLING PITCH/ROLL

CONTOLLING YAW

CONTROLLING ALLITUDE

THRUST VS VOLTAGE DROP

VELOCITY VS THRUST DISC LOADING VS PROPELLER RADIUS

ANGULAR VELOCITY VS VOLTAGE DROP

VELOCITY CONTOURS

STATIC PRESSURE CONTOURS

TURBULENT K.E

DYNAMIC PRESSURE

RADIAL VELOCITY

VELOCITY PLOT

PRESSURE PLOT

TOTAL PRESSURE PLOT

Quad copter booms were made using hollow square cross section

Aluminium bars.

Central hub for placing control board and battery are made using

square Aluminium plate.

Aluminium bars and Aluminium plates were drilled to hold them

together

Landing gears are made using bended plastic tubes and attached at the

edges of each booms.

FRAME CONSTRUCTION

SOLDERING ELECTRONIC COMPONENTS

Soldering has been done on different electronic components for fixing bullet connectors.

Male bullet connectors have been soldered on 3 wires of each motor and female bullet connectors

are soldered to 3 wires of ESCs ,which are in turn connected with battery.

FABRICATION

Assembly of the frame using nuts and the bolts.

Attaching motor and propeller to the frame using the mount.

Attaching landing gear below each motor using the same nuts and bolts of corresponding motor.

Positioning of the Flight control Board on the top plate using nylon mounts.

Connect the motors and electronic speed control unit to the battery using wire harness and the

control board connection to the Flight control board.

System Overview of Quadcopter

Electronic components Selection • Brushless motors: 1800kv and 14.8 Amps

• ESC: 30 A constant current 40 A Burst current

• Transmitter Flysky CT6B transmitter is used

• Reciever Flysky R6B is used

• Control board: KK Multicopter- version5.5

• Battery 4400mah 30C is used.

• Wire harness

TRANSMITTER

Model: FS-CT6B

Mode: 2

Channel: 6

Frequency band: 2.4GHz

Modulation Type: Spread Spectrum

Software: T6Config.EXE

ESC calibration and programming

KK Multicopter Control Board

Stabilizes the flight. Take signal from three gyros(roll ,

pitch , yaw) and feed information into Atmega IC.

Take signal from RX and feeds

into the IC via aileron, elevator, throttle and rudder pin.

Specifications:

Functions:

Update firmware for Xcopter using kk Multicopter flashing tool.

Vibration Analysis

To determine the natural frequencies of the quad rotor the following Equation for the Strouhal number was used:

𝑆𝑡 = (𝑓∗𝐿)/𝑣

Where, St is the Strouhal number, f is the vortex shedding frequency of the propeller, and v is the velocity of the flow past the propeller. The Strouhal number is an experimentally determined quantity derived in wind tunnel testing and a quantity of 0.2 is acceptable in our project.

No. of Blades Length(m) ½ Radius(m) Radius(m)

2 0.018 0.127 0.254

Vibration Isolation

Passive Isolation

Active Isolation

Vibration Control has been done by:

• Passive Isolators • Materials used

– Rubber paddings – Nylon screws

First Mode

Modal Analysis Second Mode

Third Mode Fourth Mode

Fifth Mode Sixth Mode

Seventh Mode Eighth Mode

Future Works

Improvement of Strength to weight ratio.

Payload Capacity.

Additional Integration of Electronic equipments.

Autonomous Control System.

Improved Range and Endurance.

Design Improvement

Conclusion

Structural analysis, flow analysis and modal analysis has been done using CATIA and ANSYS

softwares .

Performance plots and Vibration plots are made using MATLAB.

All electronic components like battery, motors, electronic speed control units were selected

as per the requirements and calculations done.

KK Multicopter controller board which forms the heart of the design was integrated to

ensure stability to the design with the help of inbuilt Accelerometers and Gyros.

Fabrication process began with the attachment of the various structural frame components

like the main spar, four spars, main top plate, and bottom plate.

The integration and the calibration of all electronic speed control units and the multi

controller board.

A crucial deficiency was that, the team members did not have experience working from the

electronics point of view. Howsoever, a lot of time was dedicated to the study of the working

of the electronic components and the way of calibrating each of them.

THANK YOU