Internship report in airbus company Bangloure _India

Prepared by an engineer:
Hemyar Nasser Saleh Abdo AL-
harazi
Department of Aeronautical
Engineering
prepared by An engineer : Hemyar Nasser
AL-harazi
Research Report In Unmanned
Aerial Vehicles

ALL THE TYPES
Basics of Unmanned
Aerial Vehicles
prepared by An engineer
: Hemyar Nasser AL-
prepared by An engineer : Hemyar Nasser AL-harazi
Branch: Aeronautical Engineering
Year : Finally year
Batch :2017-2021
Anna University

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History of Aviation

Works on UAVs have been going on from 1910s itself
Primarily for military purposes
o Used for surveillance
o For destructive purposes
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History of Unmanned Vehicles

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World War I
Kettering Bug

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World War II
Fire Bee

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Current Trends

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Types of Unmanned
Vehicles?

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Based on Wing Design

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Fixed Wing UAV

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Rotary Wing UAV
Single Rotor
Multirotor

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Flapping Wing UAV

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Based on Size

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Large UAVs

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Medium UAVs

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Small/Mini UAVs

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Micro UAVs

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Nano UAVs

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Other Unmanned
Vehicles

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prepared by An engineer : Hemyar
Nasser AL-harazi
What is the need to use
Unmanned Vehicles?

prepared by An engineer : Hemyar
Nasser AL-harazi
Where Unmanned
Vehicles can be used?

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Higher Studies
Research Career
Job Opportunities

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Unmanned Vehicles
The true multi disciplinary
Technology

m
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Unmanned
Systems
Airframe
Aero, Mech,
Metallurgy
Payload
Mech, Electronics
Autopilot
Electronics,
Computer Science
and IT
Propulsion
Aero, Mech,
Electronics
communication
and Navigation
Electrical,
Electronics,
Computer science

Sub systems of UAV
o Airframe
o Autopilot & Navigation system
o Propulsion system
o GCS
o Payload
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Unmanned Vehicle - Subsystems

o Aerodynamics
o Aero structural engineering
o Materials
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Airframe

o Motor
o ESC
o Battery
o Propeller
o Servos
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Propulsion system

o Stabilization Sensors - Inertial Navigation System
o GPS
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Autopilot & Navigation system

o Radio Communication system
a. UAV Control
b. Video relay
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Ground Control station

o Electro Optical Payloads
o Other Sensors
o Delivery Payloads
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Payload

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Understanding the basics of flight

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DC Paper Plane

2. Fold over the left hand corner as shown.
3. Crease
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5. Fold over the right hand corner.
6. Crease
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8. Carefully close in the sides as shown.
9. Fold down the center line from front to back.
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10. Fold the resulting left hand tip up as shown.
11. Crease along the bottom edge.
12. Repeat the same procedure on the right section.
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13. Fold the left hand point back.
14. Crease
15. Mirror the same folds on the right panel.
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16. Bend the left panel as shown.
17. Crease from back to front only 2/3 of the way.
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22. Crease wing as shown.
24. Carefully tear off strip of paper. Save the strip of
paper because you are going to need it to make the
tail.
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25. To make the tail, fold down the center of the strip of paper to
form a trough.
26. Tear as shown to form control surfaces. The folds should be
parallel with the bottom of the trough.
27. Fold wings up.
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28. Fold the right wing down as shown in photos 28 and 29. Take special care to
angle this fold in such a way so that the leading edge of the wing is slightly
higher than the trailing edge.
29. Study this photo and you will see that the fold is not exactly parallel with
the trough at the bottom but slightly angled as described in photo 28.
30. The plane should look like this at this point.
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31. Bend the wingtips up.
32. Insert tail into slot under wing.
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Introduction to Flying
Vehicle
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3 Axis of Vehicle

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Four Forces

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Introduction to
multirotor vehicles

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Types of multirotor
vehicles

A quad rotor, also called a quad rotor helicopter or
quadro copter, is an aircraft that is lifted and
propelled by four rotors.
What are Quadcopter?

o Classification
o Helicopters and Quad copters

o Quad rotors are classified as rotorcraft, as opposed to
fixed-wing aircraft, because their lift is derived from
four rotors.
o They can also be classified as helicopters, though
unlike standard helicopters, quad rotors use fixed-
pitch blades, whose rotor pitch does not vary as the
blades rotate.

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History of Quadcopter

In this quad rotor there are 6 rotors.
• 4 rotors – Lift
• 2 rotors –Thrust and yaw Control.
They tested it 100 times and max
altitude it flew was 5m.
De Bothezat Quad rotor, 1923.

How are the propellers rotated?
Case 2

Important Systems to
be considered

o Propulsion system
o Structure
o Power System
o Control system
o Navigation system
o Payloads

Importance of
Propulsion system

The Twins that determine everything!!!
Propeller & RPM

And don’t Forget about
Torque!!!!

Propeller thrust depends on the propeller pitch,
rpm and the diameter

Thrust
Thrust(N) = P x D^3 x RPM^2 x 0.27801385 x 10^-10
where P - Propeller pitch
D - Propeller Diameter
RPM - Rotations per minute
Thrust

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Thrust testing stand

o RPM
o Torque
o Efficiency
o Power Consumption
Parameters to be considered

o DC Brush motor
o DC Brushless motor
o Stepper motor
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Types of DC Motors

DC Brush Motors
o A “commutator” brings current to the moving element
(the rotor).
o As the rotor moves, the polarity changes, which keeps
the magnets pulling the right way.
o Highly controllable, most common DC motor.
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DC Brushed Motor

DC Brush Motors
o At fixed load, speed of rotation is proportional to applied
voltage.
o Changing polarity reverses rotation.
o To first order, torque is proportional to current.
o Load curve:
o Motors which
approximate thisvia
ideal well are
called DC servo
motors.
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DC Brushed Motor

DC Motor example
o V = 12 volts
o Max Current = 4 A
o Max Power Out = 25 W
o Max efficiency = 74%
o Max speed = 3500 rpm
o Max torque = 1.4 N-m
o Weight = 1.4 lbs
o Forward or reverse (brushed)
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Example of DC Brushed Motor

DC Brushless Motors
o Really an AC motor with electronic commutation.
o Permanent magnet rotor, stator coils are controlled by
electronic switching.
o Speed can be controlled accurately by the electronics.
o Torque is often constant over the speed range.
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DC Brushless Motor

Parts of a Motor
1. End Bell Fasteners
2. Shaft Key & Keyways
3. Bearing & Brushings
4. End Ball Flanges
5. Identification Plates
6. Wire varnish
7. Commutators
8. Brush Holders
9. Laminations
10. Conduit Connection
Box
11. Magnets (Ferrites)
Brushless Motor Components
Brush Type Motor Components
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Part of Brushless Motor

How It Works
o When electric current passes through a
coil in a magnetic field, the magnetic
force produces a torque which turns
the motor.
o Force in Motor:
F=ILB
F = Force
B = Magnetic Field
L = Length of Conductor
I = Current in Conductor
o Torque in Motor:
T = IBA sin θ
A = LW
L = Length of Winding
W = Width of Winding
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How it works?

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Electronic Speed Controller

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The wave form

Important Considerations
Airframe

o Aluminum
o Carbon Fiber
o Glass Fiber
o Light Weight Wood (Balsa, Birch, Silver wood)

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o Size of the arm is directly proportional to the moment
and stability
o Longer the arm, more stable the vehicle
o Shorter the arm, the vehicle will have more
maneuverability
o Easiest sizing, make sure length of arm is long enough
so that the props are hitting with each other
Sizing of Arms

Assembly of propeller,
motor & frame

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o NimH Battery
o Lithium Polymer battery
o Lithium Ion Battery
o Fuel Cells
Power Source

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How to select battery?

o Motor voltage rating
o Motor current draw
o Required Endurance / Time of flight
o Weight
o Total No of cycles
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Parameters to be considered

o Total no of motors - 4
o Peak current rating per motor - 12amps
o Motor to be selected so that it has atleast 250%
thrust of the total weight
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Endurance Calculation

o For example max vehicle weight (AUM) is 600gms
o Loading per motor - 600/4 = 150 gms
o Each motor should have minimum peak thrust of
150*2.5 = 375gms

o The vehicle should hover at 25 - 30% throttle.
o Hover current = 12 * 0.3 = 3.6amps round off to 4amps
o Total current for vehicle to hover and operate in
continuous state is 4 * 4 = 16amps

o Now the battery selected is 3300mAh , 20c rated
o So peak current discharge is 3.3 * 20 = 66 Amps
o Flight time = 3.3Ah/16 = 0.20625 hr or 12.375mins
o This is the lowest possible flight time. But there
are further considerations needed like flight type
and total weight considered into calculation.

Control Theory
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Types of Connectors
Used

XT Connectors
XT 30 -30 Amps
XT 60 – 60 Amps
XT 90 – 90 Amps

EC3, EC5 Connectors
EC3 - Upto 75 Amps
EC5 – Upto 150 Amps

• 2mm Bullet = 25 Amps
• 3.5mm Bullet = 50 Amps
• 8.0mm Bullet = 200 Amps +
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Gold / Bullet Connectors

Control Theory
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Control Theory

What is a control theory?
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What is Control
Theory?

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Why to use it?

The usual objective of a control theory is to calculate
solutions for the proper corrective action from the
controller that result in system stability, that is, the
system will hold the set point and not oscillate
around it.
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A Simple Controller

A process variable, process value or process
parameter is the current status of a process under
control. An example of this would be the
temperature of a furnace. The current temperature
is called the process variable, while the desired
temperature is known as the set-point.
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What is in the block Diagram?

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Types of Stability conditions

o P
o PI
o PID
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Types

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Difference between P
& PI controllers

o Estimating the desired position/ response and the
settling time using feedback from the sensors
o It is a closed loop feedback system
o The equation for a PID controller is as follows:
o u = p+i+d
o e(t) = ed(t) – ea(t)
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PID Controller

o A PID controller has proportional, integral and
derivative terms that can be represented in
transfer
o Function form as
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Proportional Term
o The proportional component depends only on the
difference between the set point and the process
variable.
o This difference is referred to as the Error term.
o The proportional gain (Kc)determines the ratio of
output response to the error signal.
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Proportional Term

o For instance, if the error term has a magnitude of
10, a proportional gain of 5 would produce a
proportional response of 50
o In general, increasing the proportional gain will
increase the speed of the control system response.
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o However, if the proportional gain is too large, the
process variable will begin to oscillate.
o If Kc is increased further, the oscillations will
become larger and the system will become
unstable and may even oscillate out of control.
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o Ki is proportional to both magnitude of the error
and duration
o When added to kp it accelerates the movement of
the process towards the set point
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The integral component sums the error term over
time. The result is that even a small error term will
cause the integral component to increase slowly.
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Integral Term

The derivative component causes the output to
decrease if the process variable is increasing
rapidly.
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Derivative Term

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P, I & D terms

A Typical PID Response
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A typical response

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Gyro

Accelerometer
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Accelerometer

Magnetometer
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Magnetometer

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Thermopile

GPS – Global Reference Frame
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GPS System
• What is GPS
• How GPS works
• How GPS codes work
GPS

How do you use these satellites to calculate your position?
The Global Positioning System is a constellation
of 31 satellites that is used to calculate your
position.

Instead of satellites, lets use transmitters on the ground.

When Radon’s GPS receiver gets the signal, he
compares the time on the signal with the time
on his clock.
So, a GPS signal tells you how far you are from the transmitter.
Time Difference (in seconds) * 2.99792458 108
meters/second =
Distance (in meters)

If the distance from the GPS transmitter is 250 miles, that means you
are somewhere on a circle of radius 250 miles.

Now add a 2nd transmitter in Ft. Collins.

And a third transmitter in Pueblo
Radon is at the intersection of
the 3 circles

This only works if:
• You know where the transmitters are.
• GPS signals also transmit the satellite locations.
• Everyone has good clocks.
• The GPS satellites have very good clocks. A GPS user
can use a 4th signal to piggy-back onto the GPS
satellite clocks.
• And you can tell the transmitters apart.
• The signals are made in a way so that you can tell
which transmitter sent them.
• For real problems, we use the intersection of three
spheres, not three circles.

Intersecting Spheres
But only 1 point is on the
Earth

o It compares that signal with all the known codes (there
are currently 37).
o The receiver determines which satellite it is.
o It decodes the timing information, multiplies by the
speed of light to find the radius of the sphere.
o Once it has done that for 3 satellites, it can determine the
location.
When GPS receives a signal

Make sure there are no damaged structural parts

Make sure there are no damaged propellers

Make sure there are no loose wires or
disconnected leads

Make sure that the battery is fully charged

Make sure that the quad copter is placed on a
perfectly level surface before arming

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o Remove propellers and store it box
o Cover the control board
o Remove battery, charge it fully and store it in lipo
safe bag
o Cover the motors to avoid dust
o Do not keep the quad upright on the wall. Always
keep the quad on flat surface or nail it on the wall
How to maintain? Storing & Shipping

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How to fly?

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o When no landing area
o More payload capacity
o Comparatively shorter flight spans
o Medium range
For what applications, Quadcopter used?

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Future Trends

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Dr. Vijay Kumar’s agile robots
Cooperative flight

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Ultra heavy vehicles

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Little or no human control
Fully autonomous

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Flying cell towers
Flying maintenance & inspection bots
Fully autonomous

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More stability
More power, thrust & payload
High efficiency

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Solar
Fuel cells
Hybrid
Chemical etc..,
New power source

Thank You
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Thank You

Internship report in airbus company Bangloure _India

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