9/30/2013 Systems Level Design Review P14462

Single Line Tethered Glider

Team P14462Sub-System Level Design Review

Jon ErbeldingPaul Grossi

Sajid Subhani

Kyle BallMatthew DouglasWilliam Charlock

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

Agenda● Project Description Review● Engineering Requirements Review● Functional Decomposition Review● Top 3 Concepts from Last Review● Concept Feasibility

● Glider Analysis and Feasibility● Base Station Analysis and Feasibility

● Project Planning● Work Breakdown Structure

Project Description Review● Goal: Design, build, and test a tethered,

small-scale, human-controlled glider.

● Critical Project Objectives:○ Maintain maximum tension on the tether○ Sustaining horizontal and vertical flight

paths○ Measure and record tether tension and

position○ Understand the influential parameters for

sustained, tethered, unpowered flight

Glider

Tether

Base Station

Operator w/controller

Engineering Requirements

Functional Decomposition

Review of Top 3 System Concepts

3 Single Axis Load Cell IMU with Single Axis Load Cell 2 Potentiometers with Single Axis Load Cell

Glider Analysis

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

Phoenix 2000 EPO Foam Wing span: 2 [m] Chord length: 0.3 [m] Mass: 0.98 [kg] Front mounted propeller Reinforced

Choosing the Glider The smaller Bixler glider creates less

tension for a larger operating range Able to operate with an affordable load cell

Flight Orientation

Flight Orientation

Flight Analysis

Wind Speed: ~ 11 mph

Flight Analysis

Wind Speed: ~ 22 mph

Flight Analysis

Wind Speed: ~ 44 mph

Qualitative DOE

Slower wind speed: lower tension

Larger flight path radius: lower tension

Beta angle peaks: ~ 94-95°

Tension peaks: ~ 20 [m] tether length

Tension must be less than 5000 [N] (1100 lbs)

Quantitative DOE Choosing flight configuration

Inputs Maximum allowable tension Observed wind speed

Outputs Beta angle Tether length Flight path radius

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

Proposed Tether and Bridle Design

Ideal Bridle Location Analysis

Optimum tether location: 0.51 m from root. Optimum tether angle: 54 deg from airplane

Wing Stress Analysis

Wing Stress Analysis

Maximum stress: 15 MPa

Fuselage Stress Analysis

Tether and Bridle Configuration

Base Station Analysis and Feasibility

2 Potentiometers and Single-Axis Load Cell

Concept 1

Vertical Rotation

Static Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=0∴𝑇=

𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶𝑑𝑐𝑜𝑠(𝜃)𝑟𝑠𝑖𝑛(𝛿𝜑)

Dynamic Analysis

∑ 𝑀𝑜=𝑇𝑟𝑠𝑖𝑛 (𝛿𝜑 )−𝑊 𝐿𝐶𝑑𝑐𝑜𝑠 (𝜃 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=𝐼𝐿𝐶𝛼∴𝑇=

𝐼𝐿𝐶𝛼+𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟+𝑊 𝐿𝐶 𝑑𝑐𝑜𝑠(𝜃)𝑟𝑠𝑖𝑛(𝛿𝜑)

Dynamic Analysis Continued

Horizontal Rotation

Static Analysis

∑ 𝑀𝑜=𝑇𝑟𝑐𝑜𝑠 (𝜃)𝑠𝑖𝑛 (𝛿𝜆 )−𝑀𝑝𝑜𝑡−𝑀𝑏𝑒𝑎𝑟=0∴𝑇=

𝑀𝑝𝑜𝑡+𝑀𝑏𝑒𝑎𝑟

𝑟 𝑐𝑜𝑠(𝜃)𝑠𝑖𝑛(𝛿𝜆)

3 Single-Axis Load Cells

Concept 2

CAD Model● Created 3-D model of the system in SolidWorks● Works well when the ball joints are kept in

tension as seen in Fig 1.● Ball joints fail when they are put into

compression as seen in Fig 2.

Fig. 1 Fig. 2

Base Station EquipmentPhidgets 3140_0 – S Type Load

CellBourns 3540S-1-103L Potentiometer

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 Bearings—ABEC-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

Project Planning

Project Planning

Work Breakdown Structure (10-12)● Paul: ● Jon: ● Kyle: ● Matt: ● Saj: ● Bill:

Questions?