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Design of Solar Powered Airplanes for Continuous Flight

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Design of Solar Powered Airplanes for Continuous Flight AAUTONOMOUSUTONOMOUS SSYSTEMSYSTEMS LLABAB Design of Solar Powered Airplanes for Continuous Flight André Noth Doctoral Exam – September 30, 2008 Autonomous Systems Lab ETH Zentrum http://www.sky-sailor.ethz.ch/ Tannenstrasse 3, CLA E-mail: [email protected] 8092 Zürich, Switzerland 1/30 Outline • Introduction • Design Methodology • Sky-Sailor Design • Sky-Sailor Prototype • Scaling • Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 1/30 Motivations & Objective • Project started with an ESA feasibility study Introduction Mars exploration y Motivations y History of Solar Flight Satellites + extensive coverage, good resolution y State of the Art y Contributions - place of interest not freely selectable Design Methodology Gap for systems with + high-resolution imagery Sky-Sailor Design ? Sky-Sailor Prototype + extensive & selectable coverage Scaling Conclusion Rovers + excellent resolution, ground interaction - reduced range, limited by terrain Î Study the feasibility of solar powered flight on Mars Î Develop and realize a fully functional prototype on Earth and demonstrate continuous flight André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 2/30 History of Solar Flight • Started in 1974 • 90 solar powered airplanes listed from 1974 to 2008 Introduction y Motivations y History of Solar Flight Sunrise (1974) Gossamer Penguin (1980) Sunseeker (1990) Solong (2005) y State of the Art st st st 1 manned solar manned, crossed 1 continuous flight, y Contributions 1 solar powered flight powered flight the USA in 21 flight used thermals Design Methodology Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion 70’s 80’s 90’s 2000’s Solar Riser (1979) Solar Challenger (1981) Helios (1999) Zephyr (2005) André Noth manned, battery solar manned, channel umanned, flew at umanned, flew 83h Phd Defense charged for short flights crossing > 29’000 m Autonomous Systems Lab ETH Zürich, 24.09.08 3/30 State of the art Many solar airplanes in History Î … but no clear design methodologies explained Introduction Î anyway useful practical papers on case studies y Motivations y History of Solar Flight [BOUCHER79, MACCREADY83, COLELLA94] y State of the Art y Contributions [ULM96,BRUSS91] Design Methodology Many design methodologies… Sky-Sailor Design Sky-Sailor Prototype Î … but rarely validated with a prototype [REHMET97, WEIDER06] Scaling Conclusion Î very often nice design methods [IRVING74, YOUNGBLOOD82, BAILEY92] but based on weak models for: • Weight prediction design method • Efficiencies Î ends with irrealistic designs math. models [RIZZO08, ROMEO04] André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 4/30 Contributions • Design methodology Introduction – Simplicity y Motivations y History of Solar Flight – Large design space y State of the Art y Contributions – Concrete and experienced based Design Methodology – Flexible and versatile Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion • Theory validation with a prototype – Achieve > 24h flight – Autonomous control • Draw up a state of the art on solar aviation –History André Noth Phd Defense – Publications Autonomous Systems Lab ETH Zürich, 24.09.08 5/30 Design Methodology Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 6/30 Design Methodology Energy balance Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion Weight balance Lift L Thrust T Drag D Weight mg André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 6/30 Methodology • Sizing the airplane : hen & egg problem Introduction Airplane Parts Design Methodology Weight balance •Solarcells y Required Energy y Solar Energy •Battery y Weight Models •Airframe y Resolution • Payload •… Aerodynamics & flight conditions? Sky-Sailor Design Sky-Sailor Prototype Î Total weight Î Level Flight Power Scaling Conclusion Energy balance • This loop can be solved: AAIteratively (trying existing components, refining the design) Analytically (using mathematic models of the components) André Noth BB Phd Defense Autonomous Systems Lab ÎAllows to establish some general design principles ETH Zürich, 24.09.08 7/30 Required Energy • Equilibrium at steady level flight ρ 2 3 L ==mg CSvL C ()2mg Introduction 2 D PDvlevel ==3/2 Design Methodology CSρ ρ 2 L y Required Energy DT== CD Sv y Solar Energy 2 y Weight Models y Resolution Sky-Sailor Design • Power required η η η η Sky-Sailor Prototype 1 ctrl mot grb plr Scaling PPelectot= level Plevel Conclusion ηηηηctrl mot grb plr Pelectot 1 PP+ ++()PPav pld av pld ηbec ηbec • Daily energy required ⎛⎞T EPT=+night André Noth elec tot elec tot⎜⎟ day Phd Defense ηηchrg dchrg Autonomous Systems Lab ⎝⎠ ETH Zürich, 24.09.08 8/30 Required Energy Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 8/30 Solar Energy • Daily average solar irradiance – Irradiance ~ cosine IT Introduction E = max day η Design Methodology day densityπ /2 wthr y Required Energy I T y Solar Energy – max day = f(date, location, weather) y Weight Models y Resolution Sky-Sailor Design • Daily energy obtained Sky-Sailor Prototype Scaling EEelectot= day density A scη scηη cbr mppt A Conclusion Eday density sc Eelectot ηsccbrη ηmppt • Daily energy required = Daily energy obtained Î We compute Asc André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 9/30 Required Energy Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 9/30 Weight Prediction Models • Fixed Masses • Payload mpld Introduction Design Methodology • Avionic System (Autopilot) mav y Required Energy y Solar Energy y Weight Models • Airplane Structure y Resolution Sky-Sailor Design – In the literature Sky-Sailor Prototype • [BRANDT95, GUGLIERI96,…] consider WkS = ⋅ Scaling af Conclusion Î valid locally • [HALL68] calculated all airframe elements separately Î complex, only valid for 1000-3000 lbs airplanes 0.311 0.778 0.467 • [STENDER69] proposed WnSARaf = 8.763 Î very widely adopted 0.656 0.651 Î adapted by [RIZZO04] to UAV WSARaf =15.19 André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 10/30 Weight Prediction Models • Verification of these models – Database of 415 sailplane Introduction – Structure Weight vs Area Design Methodology y Required Energy ÎModels don’t fit well y Solar Energy y Weight Models y Resolution Sky-Sailor Design optimistic Sky-Sailor Prototype • New model proposed Scaling Conclusion – Same equation, new coef. pessimistic – Least square method fit – Data set divided in two – 5 iterations = 5 qualities – Best 5% model: Keywords: Wing weight to area , wing area as a function 3.10− 0.25 of structural weight, great flight diagram, Tennekes, wing WbARaf =⋅0.44 mass to area, mass to surface, area to mass, surface to André Noth mass. Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 11/30 Weight Prediction Models Overview Biologists already studied flying in nature to extract tendencies Introduction Design Methodology [TENNEKES92] presented the y Required Energy « Great Flight Diagram » y Solar Energy Clear cubic tendancy y Weight Models y Resolution Sky-Sailor Design Our model is // to Tennekes curve Sky-Sailor Prototype Scaling [STENDER69,RIZZO04] seem Conclusion incoherent Keywords: Wing weight to area , wing area as a function of structural weight, great flight diagram, Tennekes, wing mass to area, mass to surface, area to mass, surface to mass. André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 Required Energy Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 12/30 Weight Prediction Models • Solar Cells – Surface = f(cells properties, required energy) Introduction – Weight proportionnal to the surface Design Methodology y Required Energy mAkk=+ y Solar Energy scscscenc( ) y Weight Models y Resolution Sky-Sailor Design • Maximum Power Point Tracker Sky-Sailor Prototype Scaling – Study of high efficiency MPPT Conclusion Î WeightlinearwithPmax mkPmppt= mppt sol max = kAmpptIm axηη sc cbr η mppt sc • Batterie – Weight proportionnal to capacity André Noth Tnight Phd Defense mPbat= elec tot Autonomous Systems Lab ηdchrgk bat ETH Zürich, 24.09.08 13/30 Required Energy Introduction Design Methodology y Required Energy y Solar Energy y Weight Models y Resolution Sky-Sailor Design Sky-Sailor Prototype Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 13/30 Weight Prediction Models • Propulsion group – Existing models but none is proven on a large range Introduction – Very large databases created Design Methodology y Required Energy 2264 motors y Solar Energy y Weight Models 170 electronics controllers y Resolution Interpolated Models Sky-Sailor Design 997 gearboxes Sky-Sailor Prototype 673 propellers Scaling Conclusion André Noth Phd Defense Autonomous Systems Lab ETH Zürich, 24.09.08 Keywords: Mass to power ratio of motors / Power to mass ratio of electrical motors,
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