NUR AIZAT NAZIHAH BINTI AZMI

DEVELOPMENT OF THE VERTICAL TAKE-OFF LANDING (VTOL)

SUPERVISOR : DR MOHD NAZRI NASIR CO-SUPERVISOR : PROF IR. DR. SHUHAIMI MANSOR

1 VTOL PROBLEM IDENTIFICATION

• Extra aerodynamic drag results in additional burden to the pushers • Extra unnecessary weight coming from the VTOL motors itself Capable to take-off, hover • The overlapped thrust during the and land vertically transition flight mode

2 OBJECTIVES SCOPES

Conduct wing deflection test to Carry out flight test A total weight 4 VTOL motors not more than find effect of VTOL to determine the and 1 pusher 4kg (including motors on wing highest power motor vertical deflection consumption payload) during take-off

Carry out Consists of 2 sets of Analysis cover flight test to propulsion from structural, determine the system with propulsion and suitable PID battery as control system controller power source

3 CATEGORIES

ORNITHOPTER FIXED WING • Single System • Dual System

James DeLaurier Jet-assisted AS332

4 SINGLE SYSTEM

TILTROTOR TAILSITTER TILTWING

Bell XV Vertol 76 Lockheed XFV2.

5 ROTOR FIXED-WING UAV

• Combine fixed wing and rotor type of UAV. (Gunarathna & Munasinghe, 2018)

Quadcruiser by Airbus Group The Arcturus UAV JUMP HQ-60 Hybrid Quadrotor by by Arcturus UAV Latitude Engineering

6 QUAD-ROTOR CONFIGURATION

7 MECHANISM

8 REFERENCE UAV

9 UAV WEIGHT

Weight Weight Total No. Components/Parts Unit per unit Distribution Weight (kg) (kg) (%)

1 Motor and propeller Front VTOL 2 0.183 0.366 9.53 Rear VTOL 2 0.183 0.366 9.53 Pusher 1 0.183 0.183 4.77 2 Metal bar 2 0.057 0.114 2.97 3 Servo 2 0.014 0.028 0.73 4 Battery 1 0.452 0.452 11.77 5 Fuselage 1 0.800 0.800 20.83 6 Wing with spar 2 0.287 0.574 14.95 7 V-Tail 1 0.300 0.300 7.81 8 Arduino 1 0.046 0.046 1.19 9 ESC 1 0.097 0.097 2.53 10 Telemetry 1 0.021 0.021 0.55 11 GPS Module 1 0.033 0.033 0.86 12 Receiver 1 0.034 0.034 0.89 13 Others (wires, glue, etc) - - 0.300 7.81

TOTAL WEIGHT 3.84 100 10 METHODOLOGY

11 STRUCTURAL ANALYSIS VTOL motors added to the wing

During taking off, a point force Objective: To find the effect exists of VTOL motors on wing 4L = W, assume lift needs to be vertical deflection 1.5>W to lift the UAV

State/solve analytically to find SFD and BMD

Wing deflection test

12 13 DEFLECTION Attach wing upside down to TEST bracket

Fix the bracket to the rig by using screws

Place dial gauge at four different locations

Slowly increase the amount of weight placed on the wing

Read the dial gauge for deflection data

14 Deflection at wing Velocity Force Weight No (m/s) (N) (kg) Root Motor Middl Tip e 1. 0 0 0

2. 0.5 1.458 0.15

3. 1.0 5.832 0.60

4. 1.5 13.121 1.35

5. 2 23.328 2.40

6. 2.5 36.449 3.70

7. 3.0 52.488 5.35

15 PROPULSION SYSTEM VTOL motors are added

Objective: To determine the Weight increases highest power consumption 1. Structural Approach among all flying modes 2. Aerodynamic Approach

MATLAB Modelling

Flight Test

16 Multi-rotor

Cruising

17 FLIGHT TEST

Idle mode: Cruising mode: Turn Landing mode: Switch on power off VTOL motors and Land the UAV source for 30 switch on pusher slowly until it seconds motor touches the ground

Hovering mode: Take-off mode: Repeat experiment Retrieve data Hover the UAV at Turn on VTOL with different from Mission same altitude for 30 motors and take altitude Planner software off seconds

18 CONTROL During transition, overlapping SYSTEM thrust (perturbation)

Cause the aircraft to become Objective: To develop a unstable. simple PID controller Problem: How long does it take for the aircraft to back to the original horizontal position?

Tuning test to find value of P, I and D gain

Develop PID controller

19 Tuning Test (Multicopter & Fixed- wing)

Retrieve data from Mission Planner

Plot suitable graph

Develop transfer function from input and output obtained

Develop PID controller

20 GANTT CHART

TASK/WEEK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Background study on project

Literature review

Weekly presentation on progress

Design Methodology

Calculation and Modelling

Validation of Calculation and Modelling

Report Writing, Logbook Writing

Slide Preparation

Seminar Presentation

Planning Actual 21 CHAPTER 2: LITERATURE REVIEW

No Author Title Knowledge

1. L.Kohlman Introduction to V/STOL Definition VTOL

2. Intwala & Parikh A Review on VTOL Vehicles Definition VTOL VTOL advantages and L.Kohlman Introduction to V/STOL Airplanes disadvantages Saeed, Younes, Cai A Survey of Hybrid Unmanned Aerial 3. VTOL Category & Cai Vehicle 4. McCornick Aerodynamics of V/STOL Flight Tiltwing aircraft

A Review of Bird -Inspired Flapping Wing 5. Gerdes & Gupta Ornithopter Miniature Air Vehicle Designs

22 Unmanned Aircraft Systems UAVs 6. Reg Austin Definition UAS Desugn, development and Deployment Gunarathna and Development of a Quad-rotor Fixed- 7. Munasinghe wing Hybrid Unmanned Aerial Vehicle Abd Rahman, Type of UAV Design and Fabrication of Small VTOL 8. Hajibeigy, Al-Obaidi UAV & Cheah Development Of A Multi-purpose Md. Shamim, Tariq & Hybrid & Portable Surveillance Drone 9. Usage of UAV Kazi For Security and Disaster Management

Tielin, Chuanguang, Analysis of Technical Characterisitics of 10. Wenbiao, Zihan, Category of hybrid UAV Fixed-Wing VTOL UAV Qinling and Xiaoou

23 No Author Title Knowledge Gunarathna & Development of a Quad-rotor Fixed- Munasinghe wing Hybrid Unmanned Aerial Vehicle Advantages of Quad-rotor Fixed- Abd Rahman, wing Design and Fabrication of Small VTOL Hajibeigy, Al- UAV Obaidi & Cheah Abd Rahman, Design and Fabrication of Small VTOL Hajibeigy, Al- Quadcopter mechanism UAV Obaidi & Cheah Abd Rahman, Design and Fabrication of Small VTOL Hajibeigy, Al- VTOL flying mode UAV Obaidi & Cheah Resnick & 11. Fundamental of Physics Newton's Law Halliday 24 No Author Title Knowledge Gunasegaran Validation of UAV Wing Structural Experimental Set-Up for Structure 12. Kanesan Model for Finite Element Analysis Analysis

13. Dr. S. P. Tayal Engineering Design Process Definition, steps

Cynthia J. Atman, Robin S. Adams, Monica E. Engineering Design Processes: 14. Cardella, Jennifer A Comparison of Students Steps Turns, Susan and Expert Practitioners Mosborg and Jason Saleem

25 No Author Title Knowledge

Development of Wing Deflection Ali Gharibi , Assessment Methods Through The development of wing 15. Hamid Reza Experimental Ground Tests and Finite deflection prediction methods Ovesy, Reza Khaki Element Analysis

Bo Wang, Zhongxi Hou, Zhaowei Liu, Preliminary Design of a Small 16. Qingyang Chen, Unmanned Battery and Xiongfeng Powered Tailsitter Zhu Thrust, Power and Energy formula Muhammad Design and Analysis Performance of 17. Fadhil Bin Fixed Wing VTOL UAV Jamaludina

26 No Author Title Knowledge Natassya Barlate, Roberto Santos, Development of a fixed-wing vertical Structure of horizontal and 18. Kalinka Castelo, take-off and landing aircraft as an vertical controller autopilot JolJoao Vitorior autonomous vehicle vIlto

D. Felix, Cees Bil A Review of Configuration Design for 19. and Carsten Single system and Dual system Distributed Propulsion Transitioning Braun VTOL Aircraft Hasini Viranga, Beeshanga Empirical Power Consumption Model Comparison graph of power 20. Abewardana , for UAVs consumption Ying He, Eryk Dutkiewicz 27 28 AS3322

Intwala , A., & Parikh , Y. (2015). A Review on Vertical Take Off and Landing (VTOL) Vehicles. International Journal of Innovative Research in Advanced Engineering (IJIRAE), 2(2), 186–191.

29 Bell XV21

McCormick, B. (1967). Aerodynamics of V/STOL flight. Mineola, N.Y.: Dover.

30 James DeLaurier Jet-assisted Ornithopter20

Goodheart, B. (2011). Tracing the History of the Ornithopter: Past, Present, and Future. Journal of /Aerospace Education & Research, 21.

31 Vertol 7621

McCormick, B. (1967). Aerodynamics of V/STOL flight. Mineola, N.Y.: Dover.

32 HQ-60 Hybrid Quadrotor UAV7

Tielin, M., Chuanguang, Y., Wenbiao, G., Zihan, X., Qinling, Z. and Xiaoou, Z. (2017). Analysis of Technical Characteristics of Fixed-Wing VTOL UAV. In: 2017 IEEE International Conference on Unmanned Systems (ICUS). [online] IEEE. Available at: https://ieeexplore.ieee.org/abstract/document/8278357 [Accessed 1 Oct. 2019].

33 Lockheed XFV2

Intwala , A., & Parikh , Y. (2015). A Review on Vertical Take Off and Landing (VTOL) Vehicles. International Journal of Innovative Research in Advanced Engineering (IJIRAE), 2(2), 186–191.

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