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Vehicle
By,
AYAPPA REDDY. G (14103015)
IMMANUEL LOUIS (14103018) INTERNAL GUIDE: Mr. Rajesh
RONEY RAJAN GEORGE (14103019) Assistant Professor
SIDHARTH SATHEESH KUMAR (14103042)
ABSTRACT
The genesis of this project was to explore various fields of innovation
where unmanned aerial vehicles can play a crucial role in helping the
world. Knowledge on the ability of drones gave rise to new way of
thinking where these systems can be deployed for life saving - time
bound emergency medical missions, delivering blood bags and snake
anti-venom on a quick notice.
Henceforth the project bore the name Emergency Medical Air Support
Vehicle.
Learning that the VTOL tilt rotor configuration in unmanned aerial
vehicles helps in swiftly operating in tight spaces, EMAV can undertake
time bound missions for medical industry. Flight trials have proven the
air worthiness of our equipment and we take pride in introducing
aeronautical systems in the field of medicine for saving human lives.
PROJECT OBJECTIVES
The project’s primary objective is to develop a fixed-wing tilt rotor
vertical take-off and landing unmanned aerial vehicle, capable of
delivering medical payloads. In order to achieve this primary objective,
the secondary objectives which must also be fulfilled include:
• Developing a tilting mechanism for safely transitioning between the
different flight modes.
• Designing and fabricating a lightweight airframe.
• Testing of different flight modes such as vertical take-off and landing,
hovering and transitioning.
• Undertaking a medical mission.
CONTENT BREAKDOWN
1)Literature Review
2)Design
Fixed Wing Design
VTOL System Design
Fixed Wing and VTOL Integration via Tilt Mechanism
3)Modelling and Fabrication
Modelling & Fabrication of Airframe
Modelling & Fabrication of Tilt mechanism
4)Avionics Integration
Electronics
Pixhawk Wiring & Setup
Control parameters
5)Testing
Preflight testing
Initial flight testing
6) Conclusions
LITERATURE REVIEW
Some of the publications our literature review is based on are: // very briefly explain all this to the guy
1) Onochie, C.O. 2017. Development and Stabilization of Unmanned Vertical Takeoff and Landing Technology Demonstrator
Platform, Master’s thesis, Cape Peninsula University of Technology, South Africa.[2]
2) Saeed AS, Younes AB, Islam S. 2015. A review on the platform design, dynamic modeling and control of hybrid UAVs.
International conference on unmanned aircraft systems (ICUAS) (ed Valavanis K), Denver, CO, USA, 9–12 June 2015, pp. 806–
815. IEEE.[3]
3) Judy E, Scott Carlon H. 2017. Drone Delivery Models for Healthcare. Proceedings of the 50th Hawaii International
Conference on System Sciences.[5]
4) Taylor, A. J. P. Jane’s Book of Remotely Piloted Vehicles: Robot aircraft today. Collier Books, London, 1977.[8]
5) Sergey Khantis. 2006. Control System Design Using Evolutionary Algorithms for Autonomous Shipboard Recovery of
Unmanned Aerial Vehicles. PhD thesis, RMIT University, Australia.[10]
6) Chen C, Zhang J, Zhang D, Shen L. 2017. Control and flight test of a tilt-rotor unmanned aerial vehicle. International Journal
of Advanced Robotic System.[11]
7) Yuksek B, Vuruskan A, Ozdemir U, Yukselen M.A, Inalhan G. 2016. Transition Flight Modeling of a Fixed-Wing VTOL UAV.
Journal of Intelligent and Robotic Systems.[13]
8) Hackney C, Clayton A. 2015. Unmanned Aerial Vehicles (UAVs) and their application in geomorphic mapping. Geography
and Environment, University of Southampton, UK.[16]
9) Choi-Fitzpatrick A,Chavarria D, Cychosz E, Dingens J.P, Duffey M, Koebel K, Siriphanh S, Yurika Tulen M, Watanabe H,
Juskauskas T, Holland J and Almquist L. 2016. Up in the Air: A Global Estimate of Non-Violent Drone Use 2009-2015, Joan B.
Kroc School of Peace Studies at Digital@USanDiego, University of San Diego.[17]
10) Smith A. (2016). UPS Foundation, Zipline, Gavi Partner to Drone-Drop Medical Supplies in Rwanda. Available at:
http://www.sustainablebrands.com/news_and_views/brand_innovation/alexandra_smith/ups_foundation_zipline_gavi_partner_d
rone-drop_medic (Accessed April 2018).[18]
Comparison of Various VTOL Configurations
Quad plane TILT WING
• Minimal payload
• High Payload ( < quad plane )
• Unstable during take-off
• Stable Take-off
• VTOL motors aid in forward flight
• Two motors aid in forward flight (one redundant
• Minimal mechanical complexity
motor)
• CG placement critical
• CG placement flexibility
• Software implementation complex
• Moderate mechanical complexity
Comparison of Various Medical UAV DELIVERY
Platforms
Drone company Healthcare items Launching method Delivery method Range Speed
(km) (m/s)
EMAV Prototype Blood/ Medications & VTOL from any 5m × Ground Landing 5 17
Anti Venom 5m patch of land
DESIGN
The EMAV being a hybrid aircraft will incorporate both fixed wing
aircraft design, and VTOL design into one versatile platform. The tilt
mechanism will aid in the transition from vertical take-off / hover mode
to horizontal flight mode and vice versa. In order for this platform to be
successful the tilt mechanism must work in unison with the two flight
modes.
This chapter will talk about the design of the two major components of
the EMAV, the fixed wing component and the VTOL component and
how they are both integrated into one airframe, with the help of a tilt
mechanism.
Fixed Wing Design
Fixed wing design involved the following steps: Part Span (m) Chord(m) Surface Area Aspect Ratio
(𝒎𝟐 )
• Weight estimation of Airplane
Wing 1.086 0.18 0.19548 6.03
• Aero foil Selection
• Wing Aerodynamic Calculations (Cl, Cd, Lift A tail 0.520 0.11 0.06 4.5
required for steady flight, Wing loading)
Fuselage 0.43
• Propeller Calculations (Propeller pitch speed,
Reaction force, and slipstream)
Name Length (m)
• Horizontal Tail Sizing and Placement (Moment
evaluation, Moment Balance) TMA 0.450
• Conversion of Standard Tail to an A-tail Mean Aerodynamic Centre Wing 0.045m from LE
• Control Surface Sizing Mean Aerodynamic Centre Tail 0.025m from tail LE
• Fuselage Sizing Total Airframe Length 0.805
• Total Drag Approximation
CG ¼ Mac (Aerodynamic center)
• Aircraft Performance Calculation
Neutral Point 35% Mac
FIXED WING AIRFRAME DESIGN
VTOL SYSTEM DESIGN
VTOL design involved the following steps: Standard Tri-copter Design
• VTOL Geometry Design
• Reaction Force Balance
• Vectored Yaw
• Thrust Required For VTOL
Modified VTOL Design
Fixed Wing and VTOL integration Via Tilt Mechanism
This section will deal with the integration of the two systems into one versatile
airframe with the help of a tilting mechanism.
The Design of the tilt mechanism is the most critical part of EMAV, as it is
responsible for transition and controlling all the flight modes. It also provides the
vectored yaw capability during VTOL mode.
Fixed Wing and VTOL integration involves the following steps:
• Motor Management & Tilt (Various motor orientations for various flight modes)
• Vertical Take off Mode, Transition Mode and Fixed Wing Mode
• CG Alignment Of VTOL and Fixed Wing Systems ( Crucial step)
FRAME SIDES
90 degree 15 degree
FABRICATION OF AIRFRAME
The material used for fabrication of the airframe is laminated foam board, the material is
selected on account of its good strength to weight ratio. Apart from this, laminated foam
board is very easy to work with, and can be folded and cut as necessary to make all the
airframe parts. The parts are drawn in AutoCAD and then cut in laminated foam.
Fabrication of Airfoil
The fabrication of the Clark - Y airfoil is performed by cutting out a rectangular piece of
foam and folding it over itself. With an inner spacer to provide the required camber. The
foam should be cut in such a way that the dimensions after folding will match the
geometrical dimensions of the airfoil. The process can be seen in reference [30].
Fabrication of A-tail
The A-tail is cut, on a flat piece of foam to the required dimensions. The 45𝑜 bevel is made
with a blade. This same technique can be used for making the conventional rudder and
horizontal stabilizer, provided they resemble a flat plate.
Fabrication of Booms & Fuselage
The booms and fuselage can be fabricated by performing folds on the foam.
FABRICATION OF TILT MECHANISM
Fabrication of Tilt Mechanism
The tilt mechanism is a dynamic part of the frame, it will be in constant motion
and will also have to support the thrust force produced by the motor, and therefore
3 mm aeroply is chosen to fabricate the tilt mechanism. Aeroply is aircraft grade
light plywood. The tilt mechanism made of aeroply weighed a total of only 100
grams. Aeroply is also easy to laser cut, which is the fabrication method used for
the tilt components, as it provides precise cuts. In order for the parts to be laser
cut the 3D CATIA parts must be converted into 2d line art format.
All parts of the tilt mechanism are designed in such a way that they interlock into
each other, for additional strength and durability.
The tilt rotor parts after laser cutting are then assembled and reinforced with
Cyanoacrylate, that bonds especially well with aeroply.
TILT MECHANISM PARTS FOR LASER CUTTING
AVIONICS INTEGRATION
ELECTRONICS
The electronics include the motors, ESCs, power system, tilt servos, standard servos. The
motor/ prop combination is first selected, after which a compatible ESC is chosen to
provide sufficient voltage and current to power up the motors, after which a battery is
chosen which will provide the required voltage, and satisfy the current draw of all 3 motors.
Thrust Required
Motor Selection
ESC Selection
Battery Selection
PIXHAWK WIRING AND SETUP
Now in order for Pixhawk to recognize to which port the various electronics are
plugged into, it must be programmed via Ardupilot, this step can be skipped for
conventional fixed wing and rotors as Ardupilot comes pre-programed for these
setups, but for exotic setups like EMAV the Pixhawk ports need to be programed
and configured to support the various electronics. This is done by modifying the
ServoN_Parameter for individual ports.
Q_TILT_YAW_ANGLE = 15 degree
Q_TILT_MAX = 70 degree (Max. tilt angel while waiting , that FBWA_MIN will be reached)
Q_TILT_RATE_DN = 20 degrees/second hover->forward flight
Q_TILT_RATE_UP = 35 degrees/second forward flight>hover
FBWA_MIN = 15 (m/s) (Airplane will have to reach this airspeed with Q_TILT_MAX !)
TESTING
PRE FLIGHT TESTING
• Verification of CG location
• Control Surface throws and deflection direction testing
• Tilt Mechanism Testing ( To check whether the tilt mechanism moves to correct
orientation at different flight modes)
• Esc Calibration ( To ensure all motors respond at the same rpm for a given
throttle)