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MECH 390 Final Presentation

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Arseny Politov

on 14 April 2015

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Transcript of MECH 390 Final Presentation

Aircraft Inspection Aid
OTHER IDEAS
UAV DESIGN
SOLIDWORKS was used as our cad software to design our UAV which is a very easy and efficient software for modeling.
EXPERIMENT RESULTS AND IMPACT
Experiment and benchmarking results, whilst confirmed the team's thinking, were still disappointing.
This limited the modifications possible
Hence some ideas are theoretical because of their difficultly in implementing
Primarily: Thrust, Stability & Control and flight time
Secondary: Complexity, lack of skills and testing time/time management
MECH 390 - MECHANICAL ENGINEERING PROJECT
Quadrotor UAV

Team:
Inspector X

Hamza Abu-Thuraia
Micah Hill
Jaded Sarker
Tayeb Zitouni
Arseny Politov
EXPERIMENTS AND BENCHMARKING
What is the UAV capable of?
Benchmarking was conducted...
Experimental dynamic analysis
Wind tunnel testing
SolidWorks CAD modelling
Simulink dynamic analysis
OUR VISION AND ROLE FOR THE UAV
Why this role?
Fast, economical inspection
Prohibitive labor and equipment cost to inspect certain areas
Camera for visual inspection
Small size, hence access ability
LEDs to illuminate dark areas
Other brainstormed ideas:
Mine mapping and inspection
Search and Rescue operations
Pipe and Well inspection
Animal Search and Rescue
Forestry Tree Marking
Although adequate, there were multiple inefficient design choices.
Propeller guards can be removed since its quite weak anyways.
Camera housing could probably fit in body which would help weight and aerodynamics.
Base of the quad is insufficient for our application.
TRANSPORT CANADA AND
FAA REGULATIONS

The who, the what, the when, the how, the where and the why the UAV can be flown
Regulations yet to be approved and enforced
3D PRINTING
Variable results - some good, some disappointing
Designs need refining
Some modifications adaptable to 3D Printing, some not
AIRCRAFT MAINTENANCE PROCESSES
Periodic Inspections are done on commercial and civil aircraft after a certain time or usage
These checks are Approved by FAA, Transport Canada and EASA
Inspections are categorized by 'A'check,'B'check,'C'check,'D'check
THANK YOU FOR LISTENING

ANY QUESTIONS?

INSPECTION CHECKS
'A' Check: every 125 flight hours, Needs 20-50 man hours
'B' Check: every 4-6 months, Needs 150 man hours
'C' Check: every 20-24 months, more expensive than B check, 6000 man hours
'D' Check: every 6 years, entire airplane inspection and overhaul. Over 50,000 man hours
FINITE ELEMENT ANALYSIS
FEA is used for stress analysis of simple structures where analytical solutions can not be obtained.
Small forces like 50 Newtons can cause significant deformation.
ABS is insufficient for our application.
Small drop can break the legs.
Cannot inspect piping or boats.
FOAM BASE
A foam base will dampen drop impact.
Will float in wet environment allowing inspection of piping.
Will cause the drone to align itself and fall on its feet rather than unpredictably.
Unfortunately, the current UAV does not lift the foam base.
WHAT TO CHANGE?
- Propellers
- Motors
- Battery
- Electronic Speed Controller (ESC)
3D ANIMATION USING SIMMECHANICS


SIMULATION - TURNING RIGHT

With 27000 RPM  Lift

SIMULATIONS

EXPLODED VIEWS OF THE MODEL
Using the Differential equations
Time domain
BUT No Controller
Graph analysis
DYNAMIC MODELLING

Why 8 Prop?
To increase the thrust
Be able to lift a floating element, so the quad can fly over a lake safely

CAD PARTS

First Idea - Octocopter
original frame of the quad
CAD PARTS USING SOLIDWORKS
Propeller performance 95%

SIMULATIONS
KINEMATICS MODEL USING SIMULINK
3D ANIMATION USING SIMULINKS
SIMMECHANICS EXPLORER
Introduction
CAD Parts using SolidWorks
4 Prop Quad Model
8 Prop Quad Model
Dynamic Modeling
4 Prop Quad Model
8 Prop Quad Model
Kinematics Model using Simulink
4 Prop Quad Model
3D animation using SimMechanics
4 Prop Quad Model
Simulation Results ( Graphs & videos)
4 Prop Quad Model

Conclusion

Motion Analysis using Matlab Simulink&SimMechanics

PLAN
THE IDEA
Based on the set of equations given in the Lecture notes and in [ 1 ]
Estimation of parameters ( drag coefficients, thrust coefficient, ) using approximations used by [1]
Confirmed perfectly all of the approximations with the experiments except for the torque not perfect, however acceptable.
The approximation is:
Parameter = K * 𝜔^2
The parameter k is determined from the experiments

Z- Axis Motion
Y- Axis Motion
Propeller performance
at 95%

X- Axis Motion

Y- Axis Motion

Altitude
Z-axis motion
By changing RPM’s
Unstable system
- Need controller,Probably PID

RPM 20000

RPM 30000
95% propeller
Performance

Conclusion of Motion Analysis & Limitations
The model didn’t take into account the life of the battery
The 3D simulation need to be in Matlab Virtual World
However, this simulation shows the importance of the Controller

Reference:
QuadCopter Dynamics, Simulation, and Control- Andrew gibiansky, Electronic source, consulted 2015.
Mech 390 Lecture Notes – Lecture#2 – Ion Istiharu, Concordia 2015
Matlab documentation – Mathworks web site.

Final Idea - Double Mount
Full transcript