THE UNIVERSITY OF QUEENSLAND Development of a UAV Rotorcraft Design Software Framework Using an Aeromechanics Design Analysis Student Name: Rowan CONAGHAN Course Code: MECH4500 Supervisor: Dr Ingo Jahn, Senior Lecturer in Mechanical Engineering Submission date: 25 October 2018 Faculty of Engineering, Architecture and Information Technology P a g e | iv This page is intentionally left blank P a g e | v DECLARATION All work contained here within is my own work unless explicitly stated. P a g e | vi This page is intentionally left blank P a g e | vii DEDICATION “Once you have tasted flight, you will forever walk the earth with your eyes turned skyward, for there you have been, and there you will always long to return.” – Leonardo Da Vinci [1] . Ever since my first flight in a Boeing-737 when I was a child, I have dreamt about reaching for the skies, flapping my arms and soaring high above the earth. Flight had dawned mankind for many millennia, and has been at the forefront of my mind ever since my youth; and my first taste of it. In the words of Leonardo Da Vinci, I yearn to return. As such I have taken every step since my later school years developing the knowledge and expanding upon it. This thesis is dedicated to my family who have supported me so extensively throughout my early development and my schooling career. To my parents, Anthony and Karen Conaghan; without your constant love, support and guidance, I wouldn’t be the person I am today. I dedicate this work to you. To my supervisor, Dr Ingo Jahn. For believing in me and assisting me in achieving my best. For the constant meetings sharing your expertise and guidance. For wanting to offer all your knowledge in one go, however refraining and allowing me to develop and learn at my own pace. I hope I was able to take your guidance and wisdom, and make you proud. Thank you for believing in me and showing me the way. P a g e | viii This page is intentionally left blank P a g e | ix ACKNOWLEDGEMENTS This project and thesis could never have come to fruition if it weren’t for a number of people who have helped and lend a hand across the entirety of my engineering career. At the forefront, is my supervisor Dr Ingo Jahn. Without whom, this thesis would not have at all been possible. To my mentor, Andrew Stephens. For guiding my way, giving me a go, and having faith in my abilities. Without having you offer your mentorship to me, and offering me the chance to prove myself, I am not sure I’d be on the path that I am on today. I want to thank you for your encouragement, suggestions of improvement, and your constant upbeat ‘don’t let things get you down attitude’. Days at the Innovative Cardiovascular Engineering and Technology Laboratory (ICE-T Labs) would not have been so enjoyable if it weren’t for the knowledge that you were looking out for me and pointing me in the right directions. To all lecturers and academic staff at the University of Queensland who have assisted in the operation and running of the undergraduate Bachelors of Mechanical and Aerospace Engineering. To my peers. The undergraduate students who I’ve had the pleasure of spending countless hours in the library with working away on assessments. To all those who I’ve worked with in group assignments and projects. We’ve all shared an experience here at UQ that will last a lifetime, and that we’ll carry long into our professional careers. Lastly, to all those who I’ve crossed paths with on my engineering journey, I want to extend my sincerest thankyou to you all. I truly appreciate the love and support, and hope I can deliver. P a g e | x This page is intentionally left blank P a g e | xi ABSTRACT Uninhabited Aerial Vehicles (UAVs) are powered flying robotic aircraft which can operate in adverse weather conditions, military zones and for search and rescue operations. The use cases for UAVs are infinite, however traditional design practices are still predominately being implemented with limited historical data available for UAV design [2]. Current designs are based off empirical designs, modifying existing data to meet specific mission requirements; opposed to the costly process of generating new designs. Furthermore, new ground-up designs are costly, time intensive and usually only pertain to a certain mission scenario. Although there are many existing preliminary rotorcraft design tools on the market, most require expensive license fees or have been designed to be deliberately incomplete or incorrect. This shows a direct need for an accessible open-source rapid multi-design tool that can reduce costs for design teams, and reduce the conceptual and preliminary design stages of development. This project uses MathWorks Matlab software, utilising an object oriented framework approach. Rankine-Froude Momentum theory and Blade Element Theory have been jointly used to evaluate the power requirements of a simple rotorcraft. Initial steps involved coding an environmental model, a set of mission profiles for testing and geometric models to test and validate designs. The environmental model allows all atmospheric data to be sourced specific to the mission profile tested. Geometric models contain geometric properties as well as weights and specified constraints. Six mission profiles have been scripted ranging from simple trajectories to comprehensive mission scenarios. An energy analysis has been executed with range, endurance and fuel cost results acquired for the six missions. Ideal and profile power requirements for hovering, as well as climbing power have been added into the computer model to provide accurate fuel usage results. Initial stages in developing an optimization module have been made, with further refinements required to complete. The optimization module includes a cost function based on performance requirements, and geometric/weight parameters. This computer framework provides a foundation for a UAV rotorcraft design software. When completed, this tool will allow the rapid prototyping of rotorcraft for any mission scenario, constrained to user specified constraints. Returned data from the software can then be used as the basis for detailed designs, for further investigation and refinement. Primary code validation has taken place using a simplified mission scenario to meet the UAV biennial challenge requirements. The UAV design model tested, is designed to fly at 200 ft. AGL, carry a 0.25kg payload and fly a range of 60 Km. P a g e | xii This page is intentionally left blank P a g e | xiii CONTENTS Declaration.................................................................................................................................. v Dedication ................................................................................................................................. vii Acknowledgements ................................................................................................................... ix Abstract ...................................................................................................................................... xi Contents ................................................................................................................................... xiii List of Figures ......................................................................................................................... xvii List of Tables ........................................................................................................................... xix Abbreviations and Nomenclature ............................................................................................. xx 1 Introduction ........................................................................................................................ 1 1.1 Project Motivation and Inspiration .............................................................................. 2 1.2 Project Aim .................................................................................................................. 2 1.3 Project Objectives ........................................................................................................ 2 1.4 Project Goals ................................................................................................................ 3 1.5 Project Scope ............................................................................................................... 3 1.6 Project Chapter Outlines .............................................................................................. 4 2 Project Outline - Aircraft Design........................................................................................ 5 2.1 Significance of Project ................................................................................................. 5 2.2 UAV Design Challenge ............................................................................................... 6 2.3 Significance of EMS Rotorcraft................................................................................... 6 3 Existing Preliminary Rotorcraft Sizing Tools .................................................................... 7 3.1 Current Sizing Programs .............................................................................................. 7 3.2 Current Limitations on Existing Programs ................................................................ 10 4 Literature Review ............................................................................................................. 11 4.1 Main Components of Helicopters .............................................................................