Transcript Flapping Wing Micro Air Vehicle

Team
Shane Stumvoll, Alex Willard, Robert Yarnell,
Hubert Jayakumar, Tim Teal
1
Goal
 Build a radio controlled MAV that flies by utilizing flapping
wings to create lift and thrust
Objectives
 Generate lift with a flapping wing
 Design software/hardware remote control system that
allows for flight control
 Create forward and hovering flight
2
Specifications
 MAV will weigh less than 90g and have a maximum
dimension of 15cm or less
 current target dimensions according to Fixed and
Flapping Wing Aerodynamics for Micro Air Vehicle
Applications
 MAV will hover within a 1 meter radius for 10 seconds
3
Design Flowchart
4
How the MAV flies
Hover – Lift and
Weight balanced
Balance disturbed,
Moment created
Forward Flight –
Balance returns,
Power increased
MAV Flight - Turning
Forward Flight
Moment created, MAV simultaneously
rolls and yaws
Torque and Power Calculation
P  2Tf
FLift  (0.09kg)9.8 sm2
d Lift 0.03m
T  Torque  FLift d Lift  0.026 Nm
f  frequency  60 Hz
P  2Tf  9.98W
*Assumes no mechanical loss and hovering flight, lift acting at
d=3cm from wing shoulder
Flapping Wing Subsystem –
Wing Testing
•Test apparatus: 4-bar mechanism with wings and
motor attached to mount
•Strain gages placed on mount to determine lift
force
•5 wing concepts to test
•Test each wing-beat amplitude at 60, 90,
and 120 degrees
•Test each at 30Hz, 60Hz, 100Hz, and
200Hz
•Determine graphic relationship
between amplitude, frequency, and lift
8
Lift Force calculated from
Experiment
  E 
FL

A
FL    A
9
Motor/Battery Subsystem
Current Motor Choice:
Fig.1
•Brushless DC nuvoDisc
•Cost: $59.50 from Portescap.com
•Produces up to 30W of continuous power
•Has ability to reach speeds up to 50,000 rpm
•Testing may show that we need a worm gear to achieve desired frequency
•Has 32mm diameter and weighs 26g
Fig.1: http://www.portescap.com/Catalog.cfm?Category_ID=241
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Battery
 12 Volts to drive motor
 >10 Watts to power motor, actuator, and RF control
 Mass budget of 40 grams
 Lithium-ion batteries have theoretical Power-to-mass
ratio of 1.8 W/g
9.98W
 5.44 g
W
1.8 g
 Have found several options, choice will be based on
compatibility with other components and weight.
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Tail Subsystem
Two 1-DOF actuators to get 2-DOF control.
Fig.2 magnetic
actuator
Current actuator options:
•#1 MCA2
•#2 MCA3-A
•Weight: 0.75g
•Weight:1.25g
•Output lever: 4mm
•Output lever: 6mm
Fig.2: http://aerofred.com/product_info.php/products_id/47?osCsid=5a22522de851a355be683df4601ef08a
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Flight Control Subsystem
 3-Degree of freedom control (DOF):
 Motor output (power)
 2-DOF tail actuator
 Control will allow for 6-DOF movement (not all
independent)
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Flight control Subsystem
 Subsystem components: Receiver, decoder, amplifier,
and Antenna
 Microprocessor: Programmable Interface Controller
(PIC)
 Antenna mass: 3g
 Receiver mass: 8g
 Processor: 2g
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Wireless Options
Radio Frequency
Infrared
 Line of site NOT needed
 Line of site needed
 Interference
 Not disturbed by other wireless
 Greater range
networking communications
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3 channel 8 bit RF remote control system
Transmitter
Receiver
 TWS-434
 RWS-434
 Encoder IC
 Decoder IC
 Antenna
 Antenna
Fig 3
Fig 4
Fig 3, Fig 4: www.rentron.comPicBasic/RemoteControl.htm
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8 Bit RF Remote Control Schematic
Fig 5
Fig 5: www.rentron.com/remote_control/RWS-434.htm
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Mass Budget
Tail Actuators (1.5g)
Body/Wing/4 Bar (5g)
Flight Controls
(13g)
Battery/Motor
(66g)
Total Mass: 85.5 g
18
Mass Breakdown
Power
Flight Controls
receiver
processor
8
motor
26
battery
40
2
66 g
Flapping Wing Mechanism
antenna
3
wings
2
four bar
3
13 g
Tail
5g
actuators
0.75
Total
85.5 g
1.5 g
Available Payload
90 - 85.5
4.5 g
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How did we get the MAV Weight?
 Flight control subsystem components had known mass
 Tail mass was taken from magnetic actuator
 Calculating the necessary torque yielded an ideal motor option with a
known mass
 Flapping wing mechanism masses were taken from observation of
similar wing concept designs
 Battery options were chosen for a high voltage (specific for high
voltage motor) and power (for greater increase in motor
performance). The magnetic actuator power requirements were
added to calculate ideal voltage and power requirements.
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Progress Summary
 Motor, power supply, and four bar mechanism have been
chosen
 Need stress calculations for wing design
 Need to order parts to begin wing testing
 Need to define control system parameters
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