AER1216- Fundamentals of UAS: Project Solved

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
 
Longitudinal
Lateral
Parameter
Value
Coef.
Value
Coef.
Value
m
13.5 kg
CL0
0.28
CY0
0
Ixx
0.8244 kg m2
CD0
0.03
Cl0
0
Iyy
1.135 kg m2
Cm0
-0.02338
Cn0
0
Izz
1.759 kg m2
CLα
3.45
CYβ
-0.98
Ixz
0.1204 kg m2
CDα
0.30
Clβ
-0.12
S
0.55 m2
Cmα
-0.38
Cnβ
0.25
b
2.8956 m
CLq
0
CYp
0
c
0.18994 m
CDq
0
Clp
-0.26
Sprop
0.2027 m2
Cmq
-3.6
Cnp
0.022
e
0.9
CLδe
-0.36
CYr
0
CT
0.7155 − 0.3927J2
CDδe
0
Clr
0.14
CQ
0.0056 − 0.0052J
Cmδe
-0.5
Cnr
-0.35
Ωmax
7000 RPM
ϵ
0.1592
CYδa
0
Fuel Capacity
5.7 L
 
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 aerodynamic coefficients, which are used to provide more accurate representations 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:

according to the given configuration, estimate the sUAS flight rangeand endurance;
develop the fixed-wing dynamics model;
develop the altitude/speed control system;
develop the Matlab/Simulink (linear) simulation model;
conduct simulations, perform data collection and analysis of the vehicleperforming the following maneuvers in sequence:steady level flight for 1000 m at an altitude of 2000 m above sealevel
180◦ coordinated turn with a radius of curvature of 250 m
descend to steady level flight at an altitude of 1000 m above sealevel.
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 8x6 Slow Flyer propellers. The battery is a 3 cell 1500 mAh battery.

1.2.1          State Space Model
Roll
Pitch
Yaw
Height
Pitch to u
Roll to v
1.2.2          Task
Each group is required to perform the following design or analysis tasks to develop this multi-rotor drone system:

according to the given configuration, estimate the flight range and endurance and the corresponding forward speed using the 0th order battery model and assuming the motor is 75% efficient and the ESC is
85% efficient;

develop the quadrotor dynamics model;
develop the position/orientation control system with state estimation;
develop the Matlab/Simulink (linear) simulation model;
conduct simulations, perform data collection and analysistake off and hover at 2 meters above origin
fly to the first target (x = 5 m, y = 6 m, h = 4 m) and hover
fly to the second target (x = -5 m, y = -6 m, h = 4 m) and hover(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.

2.1           Simulation Demonstration Instructions
presentation file (ppt or pdf)
matlab/simulation codes (compatible with matlab release r2020a, r2020b, r2021a). Note that you are required to submit ALL of your code. Incomplete 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 representative simulation results/plots highlight of multi-rotor sUAS development (5 slides), including representative 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

Overview (500 words)
Fixed-Wing sUAS Development (5 pages)
Multi-rotor Drone Development (5 pages)
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 components mentioned in the description above, be specific as much as possible, provide references and hypothesis if applicable, make it clear what assumptions 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 condensed type or spacing.