Single Line Tethered Glider

Single Line Tethered Glider

Team P14462Sub-System Level Design Review

Jon ErbeldingPaul Grossi

Sajid Subhani

Kyle BallMatthew DouglasWilliam Charlock

10/24/2013 Subsystem Level Design Review P14462

Team Introduction

Team Member Major

Sajid Subhani Industrial Engineer - Team Lead

Paul Grossi Mechanical Engineer

Matt Douglas Mechanical Engineer

Jon Erbelding Mechanical Engineer

Kyle Ball Mechanical Engineer

Bill Charlock Mechanical Engineer


Agenda● Project Description Review● Engineering Requirements Review● Top 3 Concepts from Last Review● Concept Feasibility

● Glider Analysis and Feasibility● Base Station Analysis and Feasibility

● Project Planning● Work Breakdown Structure


Project Description Review● Goal: Design, build, and test a tethered,

small-scale, human-controlled glider.

● Critical Project Objectives:○ Maintain maximum tension on the tether○ Sustaining horizontal and vertical flight

paths○ Measure and record tether tension and

position○ Understand the influential parameters for

sustained, tethered, unpowered flight

Glider

Tether

Base Station

Operator w/controller


Engineering Requirements Metric No. Metric Marginal Value Ideal Value Units1 Wingspan <=2 <1 m3 System Cost <500 $4 Length of Looping Flight >2 >=3 min

5 Resolution of Tension Data <=0.1 <=0.01 N

6 Resolution of Angular Position Data <=0.5 <=0.1 deg

7 Typical Repair Time 5 3 min8 Data Sampling Rate >=100 >=500 Hz

9 Minimal Operational Wind Speed at Ground Level 5 2.5 m/s

10Maximum Operational Wind Speed at Ground Level

5 10 m/s

11Safe for User and Observer Yes Yes Binary

12 Number of Looping Trials Demonstrated

>=25 >=30 Integer

13 Training Time (1st Time) <30 <20 min

14Number of Left Right Horizontal Trials >=25 >=30 Integer

15 Tether length >=15 >=30 m

16Glider Orientation Knowledge Bridle angle

Bridle, yaw, attack, & roll angles

deg

Yellow: Major designBiege: DAQGrey: Test flightWhite: System environment


Review of Top 3 System Concepts

3 Single Axis Load Cell IMU with Single Axis Load Cell 2 Potentiometers with Single Axis Load Cell


Glider Analysis


Choosing the Glider

Bixler v1.1 EPO Foam Wing span: 1.4 [m] Chord length: 0.2 [m] Mass: 0.65 [kg] Middle mounted propeller Only EPO Foam $120

Phoenix 2000 EPO Foam Wing span: 2 [m] Chord length: 0.3 [m] Mass: 0.98 [kg] Front mounted propeller Reinforced $150


Price Sheet for Glider


Choosing the Glider The smaller Bixler glider creates less

tension for a larger operating range Able to operate with an affordable load cell


Flight Orientation


Flight Orientation


Flight Analysis

Wind Speed: ~ 11 mph


Flight Analysis



Flight Analysis



Qualitative DOE

Slower wind speed: lower tension

Larger flight path radius: lower tension

Beta angle peaks: ~ 94-95°

Tension peaks: ~ 20 [m] tether length

Tension must be less than 5000 [N] (1100 lbs)


Quantitative DOE Choosing flight configuration

Decision variables Beta angle Tether length Flight path radius

Constraints Maximum allowable tension Observed wind speed


Bridle and Tether Setup Use a tension of 3000 lbs as an overestimate.

Maximum allowable stress for Bixler glider: 30 MPa

Bridle attached at two points on the fuselage causes structural failure at the wing root with 180 MPa


Proposed Tether and Bridle Design


Ideal Bridle Location Analysis

Optimum tether location: 0.51 m from root. Optimum tether angle: 54 deg from airplane


Wing Stress Analysis


Wing Stress Analysis

Maximum stress: 15 MPa


Fuselage Stress Analysis


Tether and Bridle Configuration


Base Station Analysis and Feasibility


2 Potentiometers and Single-Axis Load Cell

Concept 1


Vertical Rotation


𝛿𝛽=𝛿𝜃+𝛿𝛾=0.5𝑑𝑒𝑔

𝛿𝛾=0.5−𝛿𝜃=cos−1[ 𝑟 +𝐿𝑐𝑜𝑠 (𝛿𝜑)

√𝐿2+𝑟2+2𝑟𝐿𝑐𝑜𝑠(𝛿𝜑) ]Solve for maximum allowable such that the resolution requirement is met, and load cell begins to move

Metric No. Metric Marginal Value Ideal Value Units

6 Resolution of Angular Position Data <=0.5 <=0.1 degree

Engineering Spec Considerations

From application of Law of Cosines


Static Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃𝑏)−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=0∴𝑇=

𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶𝑑𝑐𝑜𝑠(𝜃𝑏)𝑟𝑠𝑖𝑛(𝛿𝜑)


Dynamic Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=𝐼𝐿𝐶𝛼∴𝑇=

𝐼𝐿𝐶𝛼𝑏+𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶 𝑑𝑐𝑜𝑠(𝜃𝑏)𝑟𝑠𝑖𝑛(𝛿𝜑)

𝛼𝑏=𝑑𝜔𝑏

𝑑𝑡 h𝑤 𝑒𝑟𝑒𝜔𝑏=𝜔𝑝𝑅𝑐𝑜𝑠 (𝜃𝑝)

𝐿+𝑟 h𝑤 𝑒𝑟𝑒 𝜃𝑝=𝜔𝑝𝑡


Horizontal Rotation


Static Analysis∑ 𝑀𝑜=𝑇𝑟𝑐𝑜𝑠 (𝜃𝑏)𝑠𝑖𝑛 (𝛿𝜆)−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=0

∴𝑇=𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟

𝑟 𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛(𝛿𝜆)


Dynamic Analysis

∑ 𝑀𝑜=𝑇𝑟𝑐𝑜𝑠 (𝜃𝑏)𝑠𝑖𝑛 (𝛿𝜆 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=𝐼 𝐿𝐶𝛼𝑏

∴𝑇=𝐼𝐿𝐶𝛼𝑏+𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟

𝑟 𝑐𝑜𝑠(𝜃𝑏)𝑠𝑖𝑛(𝛿𝜆)

𝛼𝑏=𝑑𝜔𝑏

𝑑𝑡 h𝑤 𝑒𝑟𝑒𝜔𝑏=𝜔𝑝𝑅𝑠𝑖𝑛 (𝜃𝑝 )

𝐿+𝑟 h𝑤 𝑒𝑟𝑒𝜃𝑝=𝜔𝑝 𝑡


3 Single-Axis Load Cells

Concept 2


CAD Model● Created 3-D model of the system in SolidWorks● Works well when the ball joints are kept in

tension as seen in Fig 1.● Ball joints fail when they are put into

compression as seen in Fig 2.

Fig. 1 Fig. 2


Base Station Cost Feasibility


Base Station EquipmentPhidgets 3140_0 – S Type Load

CellBourns 3540S-1-103L Potentiometer


Initial Base Station Budget ComparisonP14462 Purchase List for 3 Load Cell Base Station

Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 3 150.00Ball End Joint Rod 3.78 6 22.68Shipping 0.00

Total Order Price 172.68

P14462 Purchase List for Potentiometer Base Station

Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 1 50.00Bourns 3540S-1-103L Potentiometer 20 2 40.00Miniature Aluminum Base-Mounted Stainless Steel Ball Bearings—ABEC-3 14.92 2 29.84Flanged Open 1/2 Inch Ball and Roller Bearing 7.61 1 7.61Shipping 0.00

Total Order Price 127.45


Project PlanningWeek 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Week 12 Week 13 Week 14 Week 15 Week 16

26-Aug 2-Sep 9-Sep 16-Sep 23-Sep 30-Sep 7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-Nov 18-Nov 25-Nov 2-Dec 9-DecPhase 1Team OrganizationProblem Definition and comprehensionResearch complimentary projectsWeek 3 Presentation preparationPhase 2Update critical needs on EDGE websiteAcquire Glider Flight SkillsFunctional DecompositionBenchmarking base stationsBenchmarking marketable GlidersDetermine PUGH DiagramCritical eng. theory ID and comprehensionWeek 6 Presentation preparationPhase 3Price compare bought gliders/order gliderTheoretical flight simulation developmentUse simulation to calculate feasible tension valuesDevelop preliminary base station sketches and CAD modelsPreliminary base station calculations for feasibilityUnderstand components of DAQIdentify critical components of DOEWeek 9 Presentation preparationPhase 4Budget approvalFinalize base station calculationsFly glider and understand effects of tetherDevelop implementation of tether/bridalInvestigate glider reinforcement options (Carbon fiber)Refine simulation to aid DOECreate algorithm to meet DOE needsDetermine specific sensors and building materialsBegin to develop/modify LabVIEW code for DAQWeek 12 Presentation preparationPhase 5Order MaterialsWeek 16 PresentationGate Review - "Green Light"

LegendCompleteWIPIncomplete


Project PlanningWeek 7 Week 8 Week 9 Week 10 Week 11 Week 12

7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-NovPhase 3Price compare bought gliders/order gliderTheoretical flight simulation developmentUse simulation to calculate feasible tension valuesDevelop preliminary base station sketches and CAD modelsPreliminary base station calculations for feasibilityUnderstand components of DAQIdentify critical components of DOEWeek 9 Presentation preparationPhase 4Budget approvalFinalize base station calculationsFly glider and understand effects of tetherDevelop implementation of tether/bridalInvestigate glider reinforcement options (Carbon fiber)Refine simulation to aid DOECreate algorithm to meet DOE needsDetermine specific sensors and building materialsBegin to develop/modify LabVIEW code for DAQWeek 12 Presentation preparation


Incomplete Tasks from Phase 3● Control and stability calculations

● DAQ system development (setup, code)

● Sensors analysis (calibration, implementation)


Work Breakdown Structure (10-12)● Paul: Tether and glider reinforcement and DOE ● Jon: Finalize base station calculations, sensors

and build materials● Kyle: Finalize base station calculations,

sensors and build materials● Matt: Tether and glider reinforcement and DOE ● Saj: Continue to develop DOE, create DOE

algorithm, team management ● Bill: Purchase glider, develop/modify LabVIEW

for DAQ, sensors and build materials


Questions?

Documents

Single Line Tethered Glider