Single Line Tethered Glider
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Transcript of Single Line Tethered Glider
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Single Line Tethered Glider
Team P14462Sub-System Level Design Review
Jon ErbeldingPaul Grossi
Sajid Subhani
Kyle BallMatthew DouglasWilliam Charlock
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10/24/2013 Subsystem Level Design Review P14462
Team Introduction
Team Member Major
Sajid Subhani Industrial Engineer - Team Lead
Paul Grossi Mechanical Engineer
Matt Douglas Mechanical Engineer
Jon Erbelding Mechanical Engineer
Kyle Ball Mechanical Engineer
Bill Charlock Mechanical Engineer
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Agendaβ Project Description Reviewβ Engineering Requirements Reviewβ Top 3 Concepts from Last Reviewβ Concept Feasibility
β Glider Analysis and Feasibilityβ Base Station Analysis and Feasibility
β Project Planningβ Work Breakdown Structure
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Project Description Reviewβ Goal: Design, build, and test a tethered,
small-scale, human-controlled glider.
β Critical Project Objectives:β Maintain maximum tension on the tetherβ Sustaining horizontal and vertical flight
pathsβ Measure and record tether tension and
positionβ Understand the influential parameters for
sustained, tethered, unpowered flight
Glider
Tether
Base Station
Operator w/controller
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Engineering Requirements Metric No. Metric Marginal Value Ideal Value Units1 Wingspan <=2 <1 m3 System Cost <500 $4 Length of Looping Flight >2 >=3 min
5 Resolution of Tension Data <=0.1 <=0.01 N
6 Resolution of Angular Position Data <=0.5 <=0.1 deg
7 Typical Repair Time 5 3 min8 Data Sampling Rate >=100 >=500 Hz
9 Minimal Operational Wind Speed at Ground Level 5 2.5 m/s
10Maximum Operational Wind Speed at Ground Level
5 10 m/s
11Safe for User and Observer Yes Yes Binary
12 Number of Looping Trials Demonstrated
>=25 >=30 Integer
13 Training Time (1st Time) <30 <20 min
14Number of Left Right Horizontal Trials >=25 >=30 Integer
15 Tether length >=15 >=30 m
16Glider Orientation Knowledge Bridle angle
Bridle, yaw, attack, & roll angles
deg
Yellow: Major designBiege: DAQGrey: Test flightWhite: System environment
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Review of Top 3 System Concepts
3 Single Axis Load Cell IMU with Single Axis Load Cell 2 Potentiometers with Single Axis Load Cell
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Glider Analysis
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Choosing the Glider
Bixler v1.1 EPO Foam Wing span: 1.4 [m] Chord length: 0.2 [m] Mass: 0.65 [kg] Middle mounted propeller Only EPO Foam $120
Phoenix 2000 EPO Foam Wing span: 2 [m] Chord length: 0.3 [m] Mass: 0.98 [kg] Front mounted propeller Reinforced $150
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Price Sheet for Glider
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Choosing the Glider The smaller Bixler glider creates less
tension for a larger operating range Able to operate with an affordable load cell
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Flight Orientation
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Flight Orientation
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Flight Analysis
Wind Speed: ~ 11 mph
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Flight Analysis
Wind Speed: ~ 22 mph
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Flight Analysis
Wind Speed: ~ 44 mph
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Qualitative DOE
Slower wind speed: lower tension
Larger flight path radius: lower tension
Beta angle peaks: ~ 94-95Β°
Tension peaks: ~ 20 [m] tether length
Tension must be less than 5000 [N] (1100 lbs)
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Quantitative DOE Choosing flight configuration
Decision variables Beta angle Tether length Flight path radius
Constraints Maximum allowable tension Observed wind speed
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Bridle and Tether Setup Use a tension of 3000 lbs as an overestimate.
Maximum allowable stress for Bixler glider: 30 MPa
Bridle attached at two points on the fuselage causes structural failure at the wing root with 180 MPa
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Proposed Tether and Bridle Design
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Ideal Bridle Location Analysis
Optimum tether location: 0.51 m from root. Optimum tether angle: 54 deg from airplane
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Wing Stress Analysis
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Wing Stress Analysis
Maximum stress: 15 MPa
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Fuselage Stress Analysis
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Tether and Bridle Configuration
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Base Station Analysis and Feasibility
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2 Potentiometers and Single-Axis Load Cell
Concept 1
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Vertical Rotation
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πΏπ½=πΏπ+πΏπΎ=0.5πππ
πΏπΎ=0.5βπΏπ=cosβ1[ π +πΏπππ (πΏπ)
βπΏ2+π2+2ππΏπππ (πΏπ) ]Solve for maximum allowable such that the resolution requirement is met, and load cell begins to move
Metric No. Metric Marginal Value Ideal Value Units
6 Resolution of Angular Position Data <=0.5 <=0.1 degree
Engineering Spec Considerations
From application of Law of Cosines
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Static Analysis
β ππ=πππ ππ (πΏπ )βπ πΏπΆππππ (ππ)βππππ‘βπππππ=0β΄π=
ππππ‘+πππππ+π πΏπΆππππ (ππ)ππ ππ(πΏπ)
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Dynamic Analysis
β ππ=πππ ππ (πΏπ )βπ πΏπΆππππ (π )βππππ‘βπππππ=πΌπΏπΆπΌβ΄π=
πΌπΏπΆπΌπ+ππππ‘+πππππ+π πΏπΆ ππππ (ππ)ππ ππ(πΏπ)
πΌπ=πππ
ππ‘ hπ€ πππππ=πππ πππ (ππ)
πΏ+π hπ€ πππ ππ=πππ‘
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Horizontal Rotation
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Static Analysisβ ππ=πππππ (ππ)π ππ (πΏπ)βππππ‘βπππππ=0
β΄π=ππππ‘+πππππ
π πππ (ππ)π ππ(πΏπ)
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Dynamic Analysis
β ππ=πππππ (ππ)π ππ (πΏπ )βππππ‘βπππππ=πΌ πΏπΆπΌπ
β΄π=πΌπΏπΆπΌπ+ππππ‘+πππππ
π πππ (ππ)π ππ(πΏπ)
πΌπ=πππ
ππ‘ hπ€ πππππ=πππ π ππ (ππ )
πΏ+π hπ€ πππππ=ππ π‘
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3 Single-Axis Load Cells
Concept 2
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CAD Modelβ Created 3-D model of the system in SolidWorksβ Works well when the ball joints are kept in
tension as seen in Fig 1.β Ball joints fail when they are put into
compression as seen in Fig 2.
Fig. 1 Fig. 2
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Base Station Cost Feasibility
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Base Station EquipmentPhidgets 3140_0 β S Type Load
CellBourns 3540S-1-103L Potentiometer
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Initial Base Station Budget ComparisonP14462 Purchase List for 3 Load Cell Base Station
Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 3 150.00Ball End Joint Rod 3.78 6 22.68Shipping 0.00
Total Order Price 172.68
P14462 Purchase List for Potentiometer Base Station
Part Description Unit Price Qty Individual TotalPhidgets 3140_0 - S Type Load Cell 50 1 50.00Bourns 3540S-1-103L Potentiometer 20 2 40.00Miniature Aluminum Base-Mounted Stainless Steel Ball BearingsβABEC-3 14.92 2 29.84Flanged Open 1/2 Inch Ball and Roller Bearing 7.61 1 7.61Shipping 0.00
Total Order Price 127.45
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Project PlanningWeek 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Week 12 Week 13 Week 14 Week 15 Week 16
26-Aug 2-Sep 9-Sep 16-Sep 23-Sep 30-Sep 7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-Nov 18-Nov 25-Nov 2-Dec 9-DecPhase 1Team OrganizationProblem Definition and comprehensionResearch complimentary projectsWeek 3 Presentation preparationPhase 2Update critical needs on EDGE websiteAcquire Glider Flight SkillsFunctional DecompositionBenchmarking base stationsBenchmarking marketable GlidersDetermine PUGH DiagramCritical eng. theory ID and comprehensionWeek 6 Presentation preparationPhase 3Price compare bought gliders/order gliderTheoretical flight simulation developmentUse simulation to calculate feasible tension valuesDevelop preliminary base station sketches and CAD modelsPreliminary base station calculations for feasibilityUnderstand components of DAQIdentify critical components of DOEWeek 9 Presentation preparationPhase 4Budget approvalFinalize base station calculationsFly glider and understand effects of tetherDevelop implementation of tether/bridalInvestigate glider reinforcement options (Carbon fiber)Refine simulation to aid DOECreate algorithm to meet DOE needsDetermine specific sensors and building materialsBegin to develop/modify LabVIEW code for DAQWeek 12 Presentation preparationPhase 5Order MaterialsWeek 16 PresentationGate Review - "Green Light"
LegendCompleteWIPIncomplete
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Project PlanningWeek 7 Week 8 Week 9 Week 10 Week 11 Week 12
7-Oct 14-Oct 21-Oct 28-Oct 4-Nov 11-NovPhase 3Price compare bought gliders/order gliderTheoretical flight simulation developmentUse simulation to calculate feasible tension valuesDevelop preliminary base station sketches and CAD modelsPreliminary base station calculations for feasibilityUnderstand components of DAQIdentify critical components of DOEWeek 9 Presentation preparationPhase 4Budget approvalFinalize base station calculationsFly glider and understand effects of tetherDevelop implementation of tether/bridalInvestigate glider reinforcement options (Carbon fiber)Refine simulation to aid DOECreate algorithm to meet DOE needsDetermine specific sensors and building materialsBegin to develop/modify LabVIEW code for DAQWeek 12 Presentation preparation
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Incomplete Tasks from Phase 3β Control and stability calculations
β DAQ system development (setup, code)
β Sensors analysis (calibration, implementation)
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Work Breakdown Structure (10-12)β Paul: Tether and glider reinforcement and DOE β Jon: Finalize base station calculations, sensors
and build materialsβ Kyle: Finalize base station calculations,
sensors and build materialsβ Matt: Tether and glider reinforcement and DOE β Saj: Continue to develop DOE, create DOE
algorithm, team management β Bill: Purchase glider, develop/modify LabVIEW
for DAQ, sensors and build materials
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Questions?