a0m36bep přednáška 6 unmanned aerial...
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Prerequisites
24. 3. 2014 2
Lectures:
??
Subjects:
TSO, Air Data, Certification, …
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Content
24. 3. 2014 3
• Definitions
• Sensors
• Systems
• Iran Air 655
A300, Bandar Abbas to Dubay
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Repetition
24. 3. 2014 4
An aircraft
• is a vehicle that is able to fly by gaining support from the air, or, in general, the atmosphere of a planet.
balloon (buoyancy), airship
An airplane
• is a type of aircraft that is characterized by being heavier than air, driven by propellers and jets and having wings which keep it in the air.
Fixed-wing aircraft
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Repetition
24. 3. 2014 5
• UA – Unmanned aircraft
• UAV - Unmanned Aerial Vehicle
Autonomous aircraft
RPA – Remotely piloted aircraft
Aircraft Model
Airplane without pilot onboard
• Law No. 49/1997 Sb. about civil aviation, § 52
• CAA -> Permit to Fly
Requirements?
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Repetition
24. 3. 2014 6
• UAS – Unmanned aircraft system
UAV
Control station
Other devices (launch, landing, com. …)
RPAS – Remotely piloted aircraft system
RPS – Remote pilot station
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Pilot of UA
24. 3. 2014 7
• Pilot and the UA has to be approved by CAA
i.e. he is registered and fulfills requirements
Registration is valid just for one type of UA
Registration is valid for 2 years
Expect to a model aircraft up to MTOW 20 kg
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Repetition
24. 3. 2014 8
Maximum take-off mass
• Mass of the aircraft with all equipment, consumables, load, …
• Maximal take-off weight approved in the type certificate or flight approval
UA
• MTOM < 150 kg
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Minimal (stall) Speed
24. 3. 2014 9
The minimal speed (CAS) of the aircraft that is still under pilot’s control when:
Propeller is in take-off configuration
Landing gear is down
Flaps in landing configuration
Center of gravity in the worst (but allowed) position
At maximal weight
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Main components
24. 3. 2014 10
• Fuselage
• Engine + propeller (piston or jet engine, fuel or electric)
• Parts and appliances
• Vibrations
• Noise (max 96 dB, measured 3 m far from an airplane)
• Speed range
• Altitudes
• Maneuvers
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Basic Block Diagram
24. 3. 2014 11
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UAS Example
24. 3. 2014 12
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Airspace - Where does the UAV fly?
24. 3. 2014 13
htt
p:/
/avi
atio
n-e
lear
nin
g.co
m/a
irsp
ace/
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Requirements
24. 3. 2014 14
• Ranges of sensors
• Properties of sensors
• Properties of servos
• Collapsible gear control
• Breaking control (ABS)
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Fail Safe system
24. 3. 2014 15
Backup for communication channel loss.
Protection against threatening of persons, property and environment :
• Flight behind the range of the com. Channel Automatic engine stop
• After the system start procedure to finish the flight Different means (parachute, airbag, ….
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Servo
24. 3. 2014 16
• Délka pulsu: od 0.9 ms do 2.1 ms, hodnota 1.5 ms je vyhodnocena jako střední hodnota.
• periodou 50 Hz (20ms)
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Smart Servo
24. 3. 2014 17
• Digital bus – CAN bus
• Internal diagnostic
• External Test Software
• Possibility to change SW functionality
• Possibility to address the servo on the airplane Position is determined by a resistor at its input
• Possibility to connect other sensors Engine rotation
Speed on the wheel – Anti Block System (ABS)
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Servos
24. 3. 2014 18
Requirements on servos:
Where:
a width of a control surface [cm]
b depth of a control surface [cm]
v speed [km/h]
Angle angular displacement of the control surface
Momentanglevba
2000000
*** 22
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Sensors
24. 3. 2014 19
• Sensors
Engine parameters
Air Data
Position
GPS – stable error
INS – error grooving in time
Easy to implement
Hard to implement
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Engine parameters
24. 3. 2014 20
Tabulka parametrů měřených na motoru UL letadla a jejich limitů
Senzor Rozsah signálu Položka Limity Termočlánky
(Typ J nebo typ K)
0 – 45 mV Teplota hlav válců (4x) 0 ÷ 400 °C
Teplota výstupních plynů (4x) 0 ÷ 1000 °C
Odporové teploměry 0 – 250 Ω Tlak oleje 0 ÷ 500 kPa
Tlak paliva 15 ÷ 40 kPa
Tlak vzduchu
Množství paliva NTC termistor 0 – 10 kΩ Teplota chladicí kapaliny (2x) -20 ÷ 150 °C
Teplota vzduchu v karburátoru -25 ÷ 50 °C
Teplota oleje -20 ÷ 150 °C PWM senzor TTL Teplota vzduchu -25 ÷ 50 °C
Teplota studeného konce
Teplota v motorové gondole max. 80°C
Teplota v kabině letadla Pulzní signál TTL (2000-15000) imp.l-1 Průtok paliva 3 – 30 l.h-1
TTL (1 || 6) imp.ot-1 Otáčky 0 ÷ 10000 ot.min-1 Analogový signál 0 – 5 V DC Napětí palubní sítě 8 ÷ 20 V
Tlak oleje 0 ÷ 500 kPa
Tlak paliva 15 ÷ 40 kPa
Tlak vzduchu
Množství paliva
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EMS
24. 3. 2014 21
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International Standard Atmosphere
24. 3. 2014 22
• Standardized distribution of pressure distribution, temperature and air density
• Defined by ICAO
• ISA zero altitude = defined as middle sea layer at 45°lattitude
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Altitude measurement
24. 3. 2014 23
• Barometric method known dependence of the static pressure with altitude
• Radiometric method Uses reflection of radio waves from Earth surface
• Inertial method Uses double integration of vertical acceleration – relative measurement linked to the origin – highly dependent on the quality of sensors.
• Parametric method measures amount of gas atoms by a radioactive transmitter and particle counter
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Definition of altitudes
24. 3. 2014 24
• Absolute altitude with reference level at 45° latitude
• Relative altitude the reference level is selectable
• True altitude altitude measured from the terrain
• Flight Level reference level is given by atmospheric pressure 1013,25 mb (QNE).
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Standard Atmosphere
24. 3. 2014 25
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Standard Atmosphere
24. 3. 2014 26
Barometric Equation
Kde
H je výška měřená od referenční hladiny dané tlakem p0 [m],
p0 tlak referenční (vztažné) hladiny, 101,325 [kPa],
ph tlak odpovídající výšce H [kPa],
T0 teplota odpovídající nulové výšce MSA, 288,15 [K],
τ teplotní konstanta pro rozsah výšek od 0 do 11 km, 6,510-3 [K m-1] a
R korigovaná vzduchová konstanta 29,3 [mK-1].
𝐻 =𝑇0𝜏
𝑝0𝑝ℎ
𝑅𝜏
− 1 = 44,33 ∙ 103 1 −𝑝ℎ𝑝0
0,19026
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Altimeter Precission
24. 3. 2014 27
-2 0 2 4 6 8 10 12 14 160
20
40
60
80
100
Výška [km]
To
lera
nce
výško
mě
ru [m
]
-2 0 2 4 6 8 10 12 14 1650
100
150
200
250
300
To
lera
nce
výško
mě
ru [P
a]
Tolerance výškoměrů v rozsahu -0.3 až 15 km
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Basic definition
24. 3. 2014 28
• Resolution
• Precision
• Linearity error
• Offset
• Scale factor
• Other effects
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Sensors For Altitude Meas.
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Basic parameters of selected sensors Senzor Range Package Price (€) Output Precission MPX4115AP 15-115 kPa Plastikové 8 Analog ± 1.5 % FS MPX4100AP 20-105 kPa Plastikové 9 Analog ± 1.8 % FS MPXAZ6115A 15-115 kPa Plastikové 10 Analog ± 1.5 % FS SP 80 1 bar Kovové 100 Analog ± 0.2 % FS HCA0611ARH 600-1100 mbar Plastikové 10 Digital ± 1.0 % FS
MS5534BM 10 - 1100 mbar Plastikové 40 Digital 0.1 mbar
ADC1 (MPX4115AP)
15-115 kPa - - Digital -
ADC2 (SP80) 1 bar - 29 ~400 Digital EASA CS23 (viz obr. 5.10 a 5.32)
Reference senzor DPI145 (RPT200)
35 - 3500 bar - 29 ~1600 Digital 0,025 % RDG
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Temperature effects
24. 3. 2014 30
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Temperature effects
24. 3. 2014 31
• Internal heating
• Calibration
10
7
121
5
6 8
911
RT
RE
R1
R2 R4
R3
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Air Speed
24. 3. 2014 32
• IAS, CAS, EAS, TAS? 𝐹𝑦 =1
2𝑐𝑦𝜌𝑣
2𝑆.
𝑣 =2𝑚𝑔
𝑐𝑦𝜌𝑆.
𝑝𝐶 − 𝑝𝑆 = 𝑝𝐷,
𝑣 =2𝑝𝐷𝜌
.
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Air Speed Instrument Precision
24. 3. 2014 33
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Air Data Computer
24. 3. 2014 34
• TSO device
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Questions
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1. Define unmanned system.
2. Draw a block diagram of an electronic control system of a UAV.
3. What is the International Standard Atmosphere?
4. What is the precision of the altimeter required for 0 m AGL?
5. What is the required precision of the Air Speed Sensor for speed about 50 km/h?
6. Define Air Data Computer.
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Sources
24. 3. 2014 38
• Internet
• Mamok/Manta project
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