Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing †
Abstract
:1. Introduction
2. Numerical Methods
2.1. Solver
2.2. Capabilities of the Framework for 6DOF Simulations
- Moving grid for 6DOF simulations
- Grid deformation and Arbitrary Mesh Interface (AMI)
- Addition of algorithm for elevator rotation and emulated propeller lift
2.3. Grid Convergence Study and Validations
2.4. Experimental Validation of the MG6DOFM Solver
3. Research Methodology
3.1. UAV Prototype and Wing Deformation
3.2. Elevator Control
Pseudocode for elevator’s rotational motion with a simple feedback algorithm | |
omega of elevator = -feedback_coeff × (desired_pitch_angle_ − saved_pitch) | |
angle_ = angle_old_ + omega of elevator × delta_t, |
3.3. Emulated Propeller Lift
Pseudocode for emulated propeller lift with a simple feedback algorithm | |||
if t < activation_time then | |||
propeller_lift = 0 | |||
propeller_lift_x = 0 | |||
propeller_lift_y = 0 | |||
else | |||
propeller_lift_y = (t − activation_time) × (t − activation_time) × propeller_coeff | |||
propeller_lift = propeller_lift_y/abs(sin(angle_old)) | |||
if (propeller_lift > max_propeller_lift_) then | |||
propeller_lift = max_propeller_lift | |||
propeller_lift_x = propeller_lift × cos(-angle_old) | |||
propeller_lift_y = propeller_lift × abs(sin(angle_old)) |
3.4. Simulation Setup
4. Results and Discussions
4.1. Pure Wing Deformation Results
- (1)
- velocity/pressure flow fields;
- (2)
- x/y displacement, velocity, and acceleration;
- (3)
- pitch angle and angular velocity of the UAV.
4.2. Wing Deformation with Elevator Control
4.3. Wing Deformation with Elevator Control and Emulated Propeller Lift
5. Conclusions and Future Works
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Cases | 1 | 2 | 3 | 4 |
---|---|---|---|---|
Wing deformation speed (deg/s) | 0 (non-deforming) | 45 | 90 | 135 |
Fx (N) | Fy (N) | Mz (Nm) |
---|---|---|
0.90 | 7.50 | 0.0064 |
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Tay, W.-B.; Chan, W.-L.; Chong, R.-O.; Tay Chien-Ming, J. Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing. Aerospace 2024, 11, 657. https://doi.org/10.3390/aerospace11080657
Tay W-B, Chan W-L, Chong R-O, Tay Chien-Ming J. Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing. Aerospace. 2024; 11(8):657. https://doi.org/10.3390/aerospace11080657
Chicago/Turabian StyleTay, Wee-Beng, Woei-Leong Chan, Ren-Ooi Chong, and Jonathan Tay Chien-Ming. 2024. "Framework for Numerical 6DOF Simulation with Focus on a Wing Deforming UAV in Perch Landing" Aerospace 11, no. 8: 657. https://doi.org/10.3390/aerospace11080657