4
3. Literature Review
5
. Contd
3. Elijah LIN Enya et. al (in 2015) at Singapore Institute of
Technology
tilt rotor capability enabled a much higher cruise speed
support waypoint navigation
high payload capacity
4. Ir. Chin Chai Goh et. al (in 2016) at Sarawak Energy
Berhad, Malasiya
aerial survey with the help of fixed wing UAV
Survey on challenging topographical structure which were not
accessible via any vehicle
Collected information used for determination of various
parameters 6
4. Theoretical Consideration
Principle Involved
Bernoullis principle
Rotation of propeller reduces top side air pressure ,
produce lift
Newtons third law of motions
Downward deflection produces an upward (lifting)
reaction
Thrust vectoring
Manipulate the direction of the thrust motor to control the
attitude or angular velocity of vehicle
7
4. Theoretical Consideration contd..
Design consideration
Assumptions:
rigid and symmetrical structure
No alteration of CG in any direction
fixed pitch, rigid, and the same size propellers
Static modelling:
Two motors rotate in opposite direction
Counter balance moments on CG
Roll (), Pitch(), and yaw() defined by Euler
angles
Angles 1 and 2 represent the tilting angles of the
rotors 1 and 2respectively, around the y axis
8
4. Theoretical Consideration contd..
10
4. Theoretical Consideration contd..
11
5. Materials And Methods
A. Components
Mechanical Electronics components
components are: are:
a. Electronic Speed
a. Propeller Controller (ESC)
b. Aluminum sheets b. Raspberry PI
c. Brushless Motors c. Lithium
Battery
Polymer
(1000kVA) d. Accelerometer
d. Servomotor e. Gyroscope
f. GPS module
g. Barometer
12
5. Materials And Methods contd
B. Selected Component Specifications
a. Frame
Aluminum hollow square cross-section drilled bars , thin sheet of
aluminum of 2 mm thickness, frame weighs about 500 g
b. Propeller
APC, 10x4.5 propellers
c. Motors
Brushless DC motor, 1000 rpm/Volt capacity, Weighing each 62 g,
maximum current of 16A, maximum thrust up to 1kg per motor
d. Electronic Speed Control
30A ESC to run the motor, Weighing about 25 g
e. Transmitter and receiver
FLY SKY CT6B type, 6 channels , receives the signal from transmitter at
a frequency of 2.4 GHz
f. Battery:
Li-Po , 3 Cell, 12 volt 13
5. Materials And Methods contd
C. Design Calculation
Calculation of thrust , payload and drag
Table 5.1Thrust Calculation Table
Propeller diameter 10 inch
RPM 7500
Air temperature 77F
Air density 1.1843 kg/m3
Static thrust 0.68 kg 14
5. Materials And Methods contd
Payload at full throttle:
18
Fig.5.2: Fuselage design in catia V5 R20
5. Materials And Methods contd
F. Arm with tilt Mechanism
Made of aluminum square pipe 1 x 1.5 dimension
Process involved : sheet cutting, bending, drilling
19
Fig.5.3: Tilt mechanism structure design in catia V5 R20
5. Materials And Methods contd
G. Final Assembly of Mechanical Components
Parts assembled together using fasteners like nuts and bolt
21
Fig.5.5: Block diagram of system overview of the UAV
5. Materials And Methods contd
I. Software and Control Design
Servo Shaft
Servo Shaft
29
9. Refrences
Sanchez, A., Escareo, J., Garcia, O. & Lozano R.
Autonomous Hovering of a Noncyclic Tiltrotor UAV:
Modeling, Control and Implementation The International
Federation of Automatic Control Seoul, Korea, July 6-11,
2008
Mahapatra , D. Control System Design of Tilt Rotor
Unmanned Aerial Vehicle NIT Rourkela, Odisha, May
2011
[Amiri N., Control Of an Un conventional VTOL UAV
For Complex ManeuversUniversity of Cagary,
Alberta,January 2013
Sunantyo, A., Siswosukarto, S., Yulistiyanto, B., Prajitno
(2014), Digital Elevation Model Generated by Unmanned
Aerial Vehicle to determine Available Head Assessment,
Indonesia, ASTECHNOVA(3) 30
9. Refrences contd
Enya, Elijah LIN, Nicholas MOK Tech Kian, Tyrus
Yoong, and Sutthiphong SRIGRAROM. "Development of
UGS Tilt-rotor Surveillance Tricopter UAV" Journal of
Applied Science and Engineering, Vol. 18, No. 2, pp. 177-
186 (2015)
Goh Chai, C., Chai Thai, K., & Rantai Anak, R.(2016).
UAV approach in mini hydroelectric power site survey in
Malaysia. CEPSI(1)
Majnoon M. , Dynamic Modeling And Vision-Based
Mobile-Target Tracking In Uavs Using Wide Fov
Cameras University of Regina , Regina, Saskatchewan
February, 2016
31
Fig :Final View of UAV
32
THANK
YOU
33