[SOLVED] AER1216 Project

1 Project Description

The project consists of BOTH 1) a given fixed-wing sUAS configuration; and 2) a given multi-rotor drone configuration.

1.1 Fixed-Wing sUAS Development

The fixed wing sUAS you will be using for this project is the Aerosonde UAV. The following parameters are given for the vehicle:

Geometric Parameter

m Ixx

Iyy Izz Ixz S b

c

Sprop e

CT

CQ Ωmax

Fuel Capacity

Value
13.5 kg 0.8244 kg m2 1.135 kg m2 1.759 kg m2 0.1204 kg m2 0.55 m2 2.8956 m 0.18994 m 0.2027 m2
0.9
0.7155 − 0.3927J2 0.0056 − 0.0052J 7000 RPM 5.7 L

Longitudinal Coef. Value

CL0 0.28 CD0 0.03 Cm0 -0.02338 CLα 3.45 CDα 0.30 Cmα -0.38

CLq 0 CDq 0

Cmq -3.6 CLδe -0.36

CDδe 0 Cmδe -0.5

ε 0.1592

Lateral
Coef. Value

CY0 0

Cl0 0

Cn0 0 CYβ -0.98

Clβ -0.12 Cnβ 0.25

CYp 0 Clp -0.26

Cnp 0.022 CYr 0

Clr 0.14 Cnr -0.35

CYδa 0 Clδa 0.08 Cnδa 0.06

CYδr -0.17 Clδr 0.105 Cnδr -0.032

The majority of the above coefficients are called the non-dimensional aero- dynamic coefficients, which are used to provide more accurate representations

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of the aerodynamic forces and moments.
Each group is required to perform the following design or analysis tasks

to develop this Fixed-wing UAS system:

1. according to the given configuration, estimate the sUAS flight range and endurance;
2. develop the fixed-wing dynamics model;
3. develop the altitude/speed control system;
4. develop the Matlab/Simulink (linear) simulation model;
5. conduct simulations, perform data collection and analysis of the vehicle performing the following maneuvers in sequence:
   1. (a)  steady level flight for 1000 m at an altitude of 2000 m above sea level
   2. (b)  180◦ coordinated turn with a radius of curvature of 250 m
   3. (c)  descend to steady level flight at an altitude of 1000 m above sea

      level.

1.2 Multi-rotor Drone Development

Consider a quadrotor drone with a total weight of 420 grams and a frame CD = 0.97 based on the reference area S = 0.01 m2. The quadrotor uses four APC 8×6 Slow Flyer propellers. The battery is a 3 cell 1500 mAh battery.

1.2.1 State Space Model

• Roll

• Pitch

􏰓−4.2683 −3.1716􏰔 􏰓2􏰔 A=40B=0

C = 􏰑0.7417 0.4405􏰒 D = 􏰑0􏰒 􏰓−3.9784 −2.9796􏰔 􏰓2􏰔

A=40B=0 C = 􏰑1.2569 0.6083􏰒 D = 􏰑0􏰒

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AER1216

• Yaw

• Height

• Pitch to u

• Roll to v

1.2.2 Task

Fundamentals of UAS

A = 􏰑−0.0059􏰒 B = 􏰑1􏰒 C = 􏰑1.2653􏰒 D = 􏰑0􏰒

Fall 2021

􏰓 −5.8200 −3.6046e−6􏰔 A= 3.8147e−6 0

C = 􏰑1.4907e−4 1.3191e3􏰒 A = 􏰑−0.665􏰒

􏰓1024􏰔 B= 0

C = 􏰑−3.0772􏰒 A = 􏰑−0.4596􏰒

C = 􏰑2.3868􏰒

D = 􏰑0􏰒 B = 􏰑2􏰒

D = 􏰑0􏰒 B = 􏰑2􏰒

D = 􏰑0􏰒

Each group is required to perform the following design or analysis tasks to develop this multi-rotor drone system:

1. according to the given configuration, estimate the flight range and en- durance and the corresponding forward speed using the 0th order bat- tery model and assuming the motor is 75% efficient and the ESC is 85% efficient;
2. develop the quadrotor dynamics model;
3. develop the position/orientation control system with state estimation;
4. develop the Matlab/Simulink (linear) simulation model;
5. conduct simulations, perform data collection and analysis

   (a) take off and hover at 2 meters above origin
   (b) flytothefirsttarget(x=5m,y=6m,h=4m)andhover

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 (c) flytothesecondtarget(x=-5m,y=-6m,h=4m)andhover

(d) return to 2 meters above origin and land

In this project, you are required to write a position estimation and a position controller (with yaw control) to reach the desired position. The overall control architecture for the quadrotor is shown in the figure below. The equations for building the dynamics model is given in the section 1.2.1. It takes in the commanded vertical velocity, yaw rate, pitch angle, and roll angle from your position controller, as described in Section 1.2.1. In addition, we don’t have ground truth for position and attitude data, hence states have to be obtained through numerical integration in the position estimation block. The position estimation takes Euler angles, height and velocities to generate estimated states including Euler angles, velocities and positions.

2 Project Delivery

Each group will deliver the following:
• simulation demonstration (15%) on Dec.16 (online)

– presentation (5 min) with Instructor(s): (5%)
– simulation demonstration (8 min) with TAs (10%)

• project report (35%) due Dec. 16

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2.1 Simulation Demonstration Instructions

Each group shall submit the following materials by Dec. 15 (11:59pm)

• presentation file (ppt or pdf)
• matlab/simulationcodes(compatiblewithmatlabreleaser2020a,r2020b, r2021a). Note that you are required to submit ALL of your code. In- complete code that cannot be run by the TAs will not be given a grade.

  The presentation file shall contain 12 slides of the following contents

  • Title page (1 slide): including group members name, student number
  • highlight of fixed-wing sUAS development (5 slides), including repre- sentative simulation results/plots
  • highlight of multi-rotor sUAS development (5 slides), including repre- sentative simulation results/plots
  • conclusions, lessons learned (1 slide)
    On Dec. 16, each group will give a live presentation and an interactive

    simulation demonstration at scheduled time (TBD).

2.2 Project Report Instructions

Each group shall deliver a project report with the following table of contents.

Title Page: including course code/name, group members name, student number

Table of Contents List of Figures List of Tables

1. Overview (500 words)
2. Fixed-Wing sUAS Development (5 pages)
3. Multi-rotor Drone Development (5 pages)

4. Conclusions and Lessons Learned (300 words) References

Appendix (optional)

2.3 Overview (500 words)

The overview section is modelled after the Outline of Proposed Research section of Natural Science and Engineering Research Council of Canada (NSERC) CGS-M grant applications. In the overview, provide a detailed description of course project, highlight of development process and results, highlight of major discoveries or discrepancies.

2.4 Development

In both sections of the fixed-wing sUAS development and the multi-rotor drone development, provide detailed design, should contain all of the com- ponents mentioned in the description above, be specific as much as possible, provide references and hypothesis if applicable, make it clear what assump- tions or approximations you have used to justify your development, include core results, plots.

2.5 Conclusions

In the conclusion section, summarize the major technical conclusions, lessons learned. Also, please specify how each group member contributes to the project by identifying each member’s specific roles and responsibilities.

2.6 Formatting Requirements

single-spaced, body text 12pt Times New Roman font, 1” margins, no con- densed type or spacing.

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