Journées Micro-Drones 2ème édition 18 – 20 septembre 2002 toulouse, France
Aerodynamic Research on Lifting Surfaces and Performance for Mini & Micro UAVs T. Keuter, G. Boyet (ONERA), R. Decuypere, D. Hermans, D. Jérôme 1
Overview 1. Introduction 2. Wind Tunnel Presentation & Validation 3. Laser Doppler Velocimetry Analysis 4. Pressure Measurements 5. Mirador : A Conceptual Design in partnership with ONERA 6. Conclusions
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1. Introduction § § § § § §
§
Mini / Micro Aerial Vehicle (MAV) Range : 3 - 10 km Endurance : 20 – 60 min Autonomous Flight Quick setting Civil & Military Applications Challenges : F Low Re numbers F Stability Control ( gust, windshear, …)
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2. Wind Tunnel Facility & Validation § § §
Low speed wind tunnel Low turbulence level Transparent Test Section
< 35 m/s ~ 0.4 % mean speed 457 x 457 mm Digital acquisition
Corner Fillets Stepper motor
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Wind Tunnel Validation
§
Comparison of Force Measurements (CL – CD)
§
Eppler 61 airfoil / Pfenninger 048
§
T. Mueller, University of Notre Dame, USA
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CL Comparison at Different Re 2
1,5 Re87000 Re62300 1
Re46000
CL
Re87000 RMA Re62300 RMA Re46000 RMA
0,5
Re42000 Re42000 RMA
19
17
15
13
11
9
7
5
3
1
-1
-3
-5
-7
-9
-11
-13
-15
0
-0,5 alpha (°)
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CD Comparison at Different Re 0,6
0,5
Re87000 Re62300
0,4
Re87000 RMA Re62300 RMA
0,3
Re46000 RMA Re42000 Re42000 RMA
0,2
0,1
19
17
15
13
11
9
7
5
3
1
-1
-3
-5
-7
-9
-11
-13
0 -15
CD
Re46000
alpha (°)
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CL at Re = 42000 Re 42000 2
1,5
1 CL
Mueller RMA 0,5
19
17
15
13
11
9
7
5
3
1
-1
-3
-5
-7
-9
-11
-13
-15
0
-0,5 alpha (°)
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CD at Re = 42000 Re 42000 0,6
0,5
Mueller
0,3
RMA
0,2
0,1
19
17
15
13
11
9
7
5
3
1
-1
-3
-5
-7
-9
-11
-13
0 -15
CD
0,4
alpha (°)
We ARE performing RELIABLE measurements 9 / 45
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3. Laser Doppler Velocimetry §
Non-Intrusive Measurement Technique
§
Low Re : 50,000
§
Mesh around the airfoil
§
4,000 particles measured at each point
§
Post-processing of data : Matlab 5.3
§
Qualitative & Quantitative data
(very close ~2 mm)
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Vector representation around 2D - Eppler 61 airfoil at Re 42,000
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Example of quantitative information around a 2D - Tsagi 12 airfoil
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4. Pressure Measurements § One single Transducer § Pressure scanning system
(48 positions)
à stationary flow
§ Tsagi 12 airfoil already tested § Eppler 61 already tested §
Pfenninger 048 will be tested
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Instrumentation - Pressure Taps Machining Tsagi 12
Holes Drilling
Eppler 61
Thin Tubes by Electro Erosion
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Scanning Valve
Scanning Valve
Acquisition Systems : -
Terminal Screw
-
Pressure Transducer
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Cp Measurements Tsagi 12 – alpha 10° - V = 12 m/s Cp distribution around T s a g i 12 - alpha -10 ° - speed 12 m/s 1 Extrados Intrados 0.5
Cp=
Pressure Side
Cp
0
-0.5
p− p∞ 1 ρ∞V∞2 2
Suction Peak on the upper side n
-1
Suction Side
Lift due to lower pressure on the upper side
-1.5
n
-2 0
50
100
150
200
250
x
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5. MIRADOR : A Conceptual Design MIcRo Aerial-vehicle Demonstrator Onera-Rma § Bi-plane concept à better L/D, vortex induced D reduction § Low Aspect Ratio ( < 1) à fly safely § Shape between circular and elliptical à Cl max along span § Progressive dihedral à stabilizing effect, min vortex
induced drag
§ Airfoils :
- MH60 for the wings - NACA 009 for the vertical posts
§ First Version : 150 mm Wingspan § Off-the-Shelf components integration à New Evolution : 250 mm
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Development Methodology Fundamental Aerodynamics
Aerodynamic Characterization
(understanding of phenomena)
Aerodynamic Data Base
Data from propulsion group • • •
motor propeller battery
Pre-Design Mass Estimation Performances
Demonstrator 18 18 / 45
VERSION 250
Front FrontView View 3/4 behind 3/4 behind
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VERSION 250
Presentation Slide of the Vehicle
Top TopView View 3/4 3/4behind behind
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VERSION 250
Presentation Slide of the Vehicle Electronics Access Panel Bottom BottomView View 3/4 behind 3/4 behind
Antenna
Control Surface: elevators
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VERSION 250
Presentation Slide of the Vehicle
Fuselage Fuselageview viewWIRED WIRED
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VERSION 250
Mass and center of gravity Z
Z
X
Y
Micro-vehicle MIRADOR Version 250 Components designation
Surface (mm 2 ) Volume (mm 3 ) Density (kg/dm 3 )
Internal structure of the fuselage (Foam)
Mass (g)
Xg (mm)
Zg (mm)
477664
0,050
23,9
128,20
22,25
34288,0
10286,40
0,300
3,1
130,65
3,75
21338
13867,2
0,300
4,2
102,14
3,40
Electric motor P/N 801V BRUSHLESS
30,0
16,50
7,00
"ULTRALIFE" Battery UBC
86,0
69,00
7,00
Ultra micro receiver NPM05FM
8,0
84,50
9,50
Electronic speed variator Série NES
15,0
51,00
12,00
Circuit "FLIGHT CONTROLLER"
15,0
62,50
-2,00
Sensor "FLIGHT CONTROLLER"
3,0
155,70
72,65
Servo-mechanism
11,0
130,00
3,40
Propeller
1,5
-5,14
7,00
72,7
9,3
Skin on the pressure side (Carbon thick: 0,3mm) Catching hood (Carbon thick: 0,6mm)
Total
201
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VERSION 250 Weight Breakdown
Critical points : Structure 11 %
1. Energy 2. Propulsion
Sensor 6 %
3. Structure
Avionics 4 % Energy Propulsion
Communication 4 %
Communication Avionics Sensor Structure
Propulsion 20 % Energy 55 %
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VERSION 250 Battery
ULTRALIFE Polymer Battery UBC
§
Thin : < 1 mm à 6 mm
§
Lightweight : 1,5 g à ...
§
No memory effect
§
Voltage range : 3 à 4,2 V
§
Capacity range : 30 mAh à 3,800 mAh
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VERSION 250 Brushless Motor
ASTROFLIGHT P/N 801 Mighty Micro
§
Brushless motor
§
Load : 150 mA
§
Length : 23 mm
§
Diameter : 25 mm
§
Propeller : APC 5.5 x 2.5
§
Speed : 13,500 rpm
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VERSION 250 Micro - Servo
WES-Technik LS-2.4
§
Max deflexion : 14 mm
§
Time to full deflexion : 0,2 s
§
Max output force : 175 g
§
Operating voltage : 3-5 V
§
Load Current : < 100 mA
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VERSION 250 Micro - Receiver
WES-Technik JMP RX5-2.3
§
Frequency bandth : 35 MHz
§
Power supply : 3.1 – 15 V
§
Dimensions : 23 x 16 x 6 mm
§
Mass : 1.35 g
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VERSION 250
Micro Camera, Transmitter & Speed Variator
Aveox A-15
Speed Variator
Transmitter
Camera
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VERSION 250
Components Assembly Sensor FLIGHT CONTROLLER
Antenna
Variator
Battery
Motor
Servo-mechanisms
Receiver Circuit FLIGHT CONTROLLER
Battery
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VERSION 250 Wiring Scheme
Circuit FLIGHT CONTROLLER
Sensor FLIGHT CONTROLLER
Motor Variator
Receiver
Batteries Servo-mechanisms Antenna
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VERSION 250
Stabilization sensor
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VERSION 250
View of the Control Surfaces Mechanisms a ± 15°
Control Controlsurface surface UP Position UP Position
Servo control mechanism
Control surfaces
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VERSION 250
Demonstrator Assembly § Decomposition of the Surfaces shaped in
Carbon / Kevlar Fiber Wet Surface : 14,282 mm²
Wet Surface : 25,949 mm²
Density : 188 g/m² à m = 31 g
Total Wet Surface : 164,871 mm²
Wet Surface : 11,189 mm²
Wet Surface : 113,451 mm² 34 34 / 45
VERSION 250
§ Steel Moulds Manufactured
Central support left & right
Upper wing suction side Upper wing pressure side
Bottom wing pressure side
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VERSION 150
Mirador : Results § Analyse of the Support Influence § Force Measurements - Flow Visualisation § Prototype Tested : - 15 cm Wingspan - ABS prototyping
§ Several Tests on the way about Optimum
Biplane :
stagger, decalage , gap, ... 36 36 / 45
VERSION 150
Two Ways of Fixing the Demonstrator
VERTICAL
HORIZONTAL
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VERSION 150
Harmful Effect on the Angle of Attack
VERTICAL
HORIZONTAL
More Vibrations with Horizontal Support ! 38 38 / 45
VERSION 150
CL Measurements Vertical Support 0,9
CL max=0,8
0,8
0,7
0,6
0,5
No noticeable Hysteresis effect
0,4
CL
V=10m/s V=15m/s V=20m/s
0,3
0,2
0,1
0 -10
-5
0
5
10
15
20
25
30
35
-0,1
-0,2
alpha
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VERSION 150
CD Measurements Vertical Support 0,7
0,6
0,5
0,4
CD
V=10m/s V=15m/s V=20m/s
0,3
0,2
0,1
0 -10
-5
0
5
10
15
20
25
30
35
alpha
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VERSION 150
Cm Measurements Vertical Support 0,15
Cm0 > 0 Slope < 0
0,1
0,05
à Stable
0
Cm0 < 0 Slope < 0
Cm relative to AC
-10
-5
0
5
10
15
20
25
30
35
-0,05
V=10m/s V=15m/s V=20m/s
-0,1
-0,15
-0,2
à Not Stable
-0,25
-0,3
-0,35
alpha
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VERSION 150
Polar Curve - Vertical Support 0,9 0,8
Max lift-to-drag ratio = 5,5
0,7 0,6 0,5
V=10m/s V=15m/s V=20m/s
CL
0,4 0,3 0,2 0,1 0 0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
-0,1 -0,2
CD
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VERSION 150
Flow Visualization
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Conclusions The RMA has: Outstanding equipment Scientific Approach Conceptual Design MIRADOR MAV demonstrator
(on the way)
Next step: Apply PIV Measurement Technique Flight Testing
WE ARE READY FOR THE FUTURE 44 44 / 45
Points of Contact Roland Decuypere Royal Military Academy Department of Mechanics 30 Renaissance Av. B-1000 Brussels, Belgium Tel : +32 (0)2 737 65 50 Fax : +32 (0)2 737 65 47
Guy Boyet ONERA Long-Term Design & Systems Integration Department Chemin de la Hunière F-91761 Palaiseau Cedex, France
E-mail :
[email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
Tel : +33 (0)1 69 63 62 45 Fax : +33 (0)1 69 93 63 00 E-mail :
[email protected]
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