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Spherical Vtol Uav
Spherical Vtol Uav
Fluid Dynamics software during the design stages, and its results were confirmed by various
experiments and flight tests conducted.
FLIGHT CONTROL THEORY
Yaw Control
Pitch Control
The pitch motion (about the Y-axis) is controlled by two out of
four flaps and four rudders, which have been programmed to
activate in a specific orientation to cause the motion, as shown.
With the Center of Gravity (CG) on the midline of the UAV,
the top two flaps move in opposite directions to the bottom
rudders to create a torqueing effect, thereby allowing the UAV
to pitch in the desired direction.
Roll Control
Roll motion of the UAV is basically same as that of pitch motion as the UAV is constructed
symmetrically along the x-axis and y-axis.
FLOW SIMULATION
0.4
Coefficient of Lift, Cl e
0.35
0.3
0.25
0.2
Cl vs AOA (o)
0.15
Cd vs AOA (o)
0.1
0.05
0
0 10 20 30 40 50 60 70 80 90
AOA, (o)
To achieve the highest lift-to-drag ratio, the size of the flaps and rudders were optimised. This
ensured that enough lift force is generated by both the flaps and the rudders to provide sufficient
pitching moment for translation flight, and the size of the rudders is sufficient to counter the
inherent yaw motion caused by the propeller.
required for this project must be capable of providing 3 Amperes at 5 Volts to the control board
which in turns supply the servos with electrical power. As there are two common types
available: 5V, 3A and 6V,8A variants, the Hobbywing 5V, 3A version is chosen due to its
smaller size, lighter weight and lower cost.
Battery(Power Source)
There are two main types of batteries available for use in radio controlled crafts. The first being
Nickel-Metal Hydride (Ni-Mh) batteries, the second being Lithium Polymer (Li-Po) batteries.
As a comparison, for the same capacity and voltage, the Ni-Mh has a higher weight and size as
compared to its Li-Po equivalent. A selected Ni-Mh 4 cell pack has a weight of 117grams,
dimensions of 67x44x17 mm and provides 1000mAh capacity at 4.8 volts (Each cell has a
nominal voltage of 1.2V). The Li-Po equivalent weighs just 30 grams, dimension of 71x35x6
mm and provides 1000mAh capacity at 4.2volts for one cell. For this project, a Li-Po battery
will be used due to the higher capacity to weight ratio.
Flight Control Board
KK2 FLIGHT CONTROL BOARDThis board Is suitable for the development of the UAV as it has the customizable options
available in its setup. It can read 5 inputs (throttle, pitch, roll, yaw, and mode) and can output up
to 8 signals which can either be a motor or servo. Each output can be programmed individually
to adjust the amount it reacts to the signal(s) it receives. Each output can be programmed to
respond to one or multiple inputs. the KK2 board senses pitch, roll, and yaw orientation. It has
the ability to be customised such that each servo connected to an output pin will be able to react
to a combination or pitch, roll, and/or yaw signals, depending on the mix that has been
programmed into the system. The KK2 receives signals from the receiver and sends the
appropriate pitch, roll, and yaw commands to the appropriate servos. The KK2 board would
also send correcting output-signals that would self-right the UAV after proper tuning.
The motor is connected to output 1, the 4 bottom servos connected to output 2-5 are
programmed to receive pitch, roll and yaw commands, output-6 servo would respond to roll,
and output-7 servo responds to pitch.
Servos
Servos are mechanical actuators that move the control surfaces. It incorporates a DC motor that
drives a gear train. An integrated circuit receives signals from the receiver, sent by the
transmitter. The signal received will determine the position that the servo arm will rotate to. The
Servo Selected for the project is the Hitec HS-55. There are 6 servos used for the project.
APPLICATIONS
Future developments include autopilot development,use of more efficient power
sources,development of smaller models. These factors make it suitable for a wide range of
applications by integrating it with various technologies such as surveillance,terrain
mapping,land mine detection etc.
-It can keep an eye on illegal activities in forests such as deforestrations,hunting and naxalite
activities.
- Wildfire: In a forest-fire scenario it's often difficult to have an updated and global awareness
of various elements involved.The spherical VTOL is compact and easy to operate, and can
easily be launched from a command-and-control vehicle. In a few minutes, the field teams can
start to receive images and footage from the spherical VTOL, and develop a better up-to-date
situational awareness of the operations theatre.
- By suitable technologies, it can help in wildlife count.
- Spherical VTOL can replace other small UAVs as they lower the risk of injury to birds as they
have an encased propeller system.
- Can be used for livestock management ( keeping track of the movement of the herd).
- Can be used for search and rescue operations in remote locations during time of natural
disaster.
- Providing Medical assistance in times of natural calamities
- Surveillance - It can be used for public safety, also to see how the city is growing,rooftop
inspection, discover clandestine dumps, monitor any land movement in a remote area that has
gone undetected.It can also be used in night by using thermal camera.
-Terrain mapping
- Landmine detection
- Pipeline inspection in remote areas and difficult terrains
-Aerial photography
-Use inside mines for detecting and warning against toxic gases.
CONCLUSION
This report presented the design, analysis, control, and implementation of a novel,ultralightweight spherical VTOL UAV. It has the ability to fly through the air or roll on the ground,
for various applicationssuch as inspection, surveillance, mapping, and search and rescue.
REFERENCES1. Chia Yong Han Timothy ,Spherical VTOL UAV structure and aerodynamics
2. Andrew Ong ,Spherical VTOL UAV Propulsion and Control Systems