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Journées microdrone - ONERA – Septembre 2004 Diapo N° 1 REMANTA REsearch program on Micro Aerial vehicle and New Technologies Application Brieuc DANET.

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Presentation on theme: "Journées microdrone - ONERA – Septembre 2004 Diapo N° 1 REMANTA REsearch program on Micro Aerial vehicle and New Technologies Application Brieuc DANET."— Presentation transcript:

1 Journées microdrone - ONERA – Septembre 2004 Diapo N° 1 REMANTA REsearch program on Micro Aerial vehicle and New Technologies Application Brieuc DANET 4th European Micro-UAV Meeting Toulouse, 15th September 2004

2 Journées microdrone - ONERA – Septembre 2004 Diapo N° 2 1.Objectives of the Research Program 2.Topic 1 : Experimental Aerodynamics 3.Topic 2 : Flight Mechanics and Control 4.Topic 3 : Materials, Structures, Actuators 5.Continuation of the Project

3 Journées microdrone - ONERA – Septembre 2004 Diapo N° 3 1. Objectives Objective: Feasability and interest of a flapping-wing MAV Caracteristics of the vehicle: Small size : wing span < 15 cm Mass ~ 100 g Ability of stationary flight Large autonomy

4 Journées microdrone - ONERA – Septembre 2004 Diapo N° 4 1. Objectives Biomimetism Understand the phenomena that permit animals to fly Find accurate technical solutions Copying nature is not the right way (multipurpose aspect of parts of the body)

5 Journées microdrone - ONERA – Septembre 2004 Diapo N° 5 1. Objectives Scientific and technological challenge: Low Reynolds aerodynamics Numerous complex unsteady phenomena (dynamic stall, wake capture) Control and command of wing kinematics in cruise, stationary Unusual flight dynamics flights and manoeuvers Huge influence of mass Light materials Flexible structures Aeroelasticity High frequency sollicitations Accurate actuators Large interactions between the domains

6 Journées microdrone - ONERA – Septembre 2004 Diapo N° 6 Topic # 1: Experimental Aerodynamics

7 Journées microdrone - ONERA – Septembre 2004 Diapo N° 7 2 objectives: - qualitative: observe and describe to understand phenomena Visualizations of aerodynamic flows - quantitative: correlate wing kinematics with sustentation and propulsion to feed models with empiric data Measurements of aerodynamic forces and torques 2. Topic #1: Experimental Aerodynamics

8 Journées microdrone - ONERA – Septembre 2004 Diapo N° 8 2. Topic #1: Experimental Aerodynamics Experiments in the air: - Uneasy visualizations - Inertial forces >> Aerodynamic forces i.e. difficult analysis of measures Experiments in water with conservation of : Reynolds number ( ) and reduced frequency ( )

9 Journées microdrone - ONERA – Septembre 2004 Diapo N° 9 2. Topic #1: Experimental Aerodynamics Facilities Lille: Water Tank - Section H1.5m x W1.5m x L25m - V (moving platform) = 0.1 to 1 m/s - Injection of dyed liquid.

10 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #1: Experimental Aerodynamics Facilities Toulouse: Water Tunnel - max Flow rate 20 l/s (slaved) - Section up to H500xP600 (V=13 cm/s) - Slaved and controlled dyed liquid injection (flow rate and position)

11 Journées microdrone - ONERA – Septembre 2004 Diapo N° 11 Testing conditions Re ~ NACA 0012 Profile (not optimal but well documented) Realization of a coupled mechanism 2D : plunging and pitching 3D : flapping and pitching Application: cruise flight Measurements: - 5 components balance (no axial component) for measurement of forces and torques and evaluations of Cx, Cz,… - Image acquisition. Laser Tomography 2. Topic #1: Experimental Aerodynamics

12 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #1: Experimental Aerodynamics 2D Mechanism

13 Journées microdrone - ONERA – Septembre 2004 Diapo N° 13 3D Mechanism 2. Topic #1: Experimental Aerodynamics

14 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #1: Experimental Aerodynamics Mechanism installed on the wall Coupled Mechanism

15 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #1: Experimental Aerodynamics 2 testing campaigns (2003 & 2004): More than 800 tests (3D and quasi-2D)

16 Journées microdrone - ONERA – Septembre 2004 Diapo N° 16 Results 2. Topic #1: Experimental Aerodynamics

17 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #1: Experimental Aerodynamics Visualizations f = 0.5 Hz ; U = 0 m/sf = 0.5 Hz ; U = 0.25 m/s

18 Journées microdrone - ONERA – Septembre 2004 Diapo N° 18 Topic # 2: Flight Mechanics and Control

19 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #2: Flight Mechanics and Control Unusual Flight Mechanics Model based on the flight analysis of insects and birds Cruise and hovering flights Linear model + unsteady effects (Dynamic delayed stall, etc) Use of aerodynamic data issued from experiments (open literature and ONERA )

20 Journées microdrone - ONERA – Septembre 2004 Diapo N° 20 Topic # 3: Materials, Structures, Actuators

21 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #3: Materials, Structures, Actuators - Selection, elaboration and characterization of light materials (composites carbon/epoxy) - Modelization of structures under high frequency requests with aero coupling - Search of actuators adapted to kinematics Concepts inspired by nature

22 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #3: Materials, Structures, Actuators Light Materials Terphane 29 m Composite T300/914 Total Mass: 0,6 g 60 mm frequency : 30 Hz distance between supports : 10 mm deformation : +/- 0,1 or 0,2 or 0,4 mm Flexion tests :

23 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #3: Materials, Structures, Actuators Structures Rotation axis Flapping articulation Pitching articulation Wing Calage Assumptions: ROTOR code (D. Petot) 3D mechanism Rotation simulates forward flight Decoupled joints Classical aerodynamic Rigid Wing Low Mass fondamental beat frequency : 8 Hz

24 Journées microdrone - ONERA – Septembre 2004 Diapo N° Topic #3: Materials, Structures, Actuators Actuators Dynamical model at resonance non-linear model behavior of actuators - active behavior - elastic and inertial behavior

25 Journées microdrone - ONERA – Septembre 2004 Diapo N° 25 Continuation of the Project (work for 2005) Numerical aerodynamics : Different approaches are now in progress : NS, LES - NS 2D - Adaptative grid - Re = U = 1m/s - c = 2 cm Stc = 0.8 (f = 40 Hz) Stc = 0.4 (f = 20 Hz)

26 Journées microdrone - ONERA – Septembre 2004 Diapo N° 26 Continuation of the Project (work for 2005) Experimental aerodynamics: - A second mechanism to widen the range of kinematic parameters (hovering flight) - Visualization of the flows Implementation of flight mechanics and aeroelasticity with unsteady models

27 Journées microdrone - ONERA – Septembre 2004 Diapo N° 27 Contacts: Management: Agnès Luc-Bouhali Flight Mechanics and Control: Laurent Planckaert Aerodynamics: Jean-Bernard Paquet Materials, Structures, Actuators: Daniel Osmont


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