1. Multi-Engine Helicopter Flight Dynamics And Modeling: An Introduction NASA Space Grant Undergraduate Research Symposium Pima Community College 4/12/14 Team Members Nick Patzke Gustavo Guerreo Nick Morris

2. Overview Mission and Motivation What is a Quadcopter? Quadcopter Flight Dynamics Principles of Flight Variables of Flight Modeling Quadcopter Flight Why Models Are Important Conclusions Summary Questions I ask that you please hold all questions until the end

3. Our Mission and Motivation Apply physics and engineering concepts to optimize flight performance and model the flight of a quadcopter. Design and manufacture a UAV capable of: Spanning sections of the Grand Canyon Capturing Still Photos and HD Video Expanding onboard sensors Test the feasibility of UAV systems for: Remote or inaccessible location monitoring Topographical style mapping

4. What is a Quadcopter? A Quadcopter is a type of aircraft that derives lift and propulsion from four sets of horizontally revolving rotors. (Google.com, revised definition)

5. Helicopter vs. Quadcopter How quadcopters fly compared to their single rotor counterpart Anti-torque The advantages of quadcopters

6. Principles of Flight We rely on a solid foundation of the following to allow us to understand the flight of these machines: - Newtonian Mechanics - Bernoulli’ Principle - Fluid Dynamics Isaac Newton (www.news.discovery.com) Daniel Bernoulli (www.energyvanguard.com)

7. Giant QuadcopterMicro Quadcopter Mountain Quadcopter H 2 0 Quadcopter

8. Variables: – Elevation of quad-copter (ft.) – Temperature (T) – Air Density (ρ) – Humidity level – Angle of Attack (axis of quad-copter) (Φ) – Speed (v) – Wind vector Fixed Parameters (per motor) – Lift coefficient (C L ) – Drag coefficient (C D ) – Angle of Attack (of propeller blades) (Ɵ) – Surface Area (s) Variables That Define Flight Dynamics 5/12/20158

9. Matrix C L C D Ɵ AoA S A A 1 A 2 A 3 A 4 A 5 B 1 B 2 B 3 B 4 B 5 C 1 C 2 C 3 C 4 C 5 D 1 D 2 D 3 D 4 D 5 ? 5/12/20159

10. Basic Steps of Modeling Step 1: Identify the system to be modeled Modeling is used to ensure the safety of an operation. It aims to reduce the level of risk by predicting future courses of events. Step 2: Define all the variables that effect the model Shown on previous slide Step 3: Define the boundaries of the model Step 4: Construct Model Either base a model off of fundamental theory, then collect data and correct as necessary OR collect as much data as possible and piece together a model based on the data gathered. Step 5: Test the Model 5/12/201510

11. 5/12/201511 Step 3: Define the Boundaries Modeling as a Function of Altitude: - There are three levels to look at in which the model of our aircraft drastically changes. High Altitude (Above) First stabilization point (Right) Ground hover (Below) Which would I choose? Why?

12. Air Circulation Across a Rotor: 5/12/201512 Here we can see the difference in the air circulation when a helicopter is in ground effect (right) and out of ground effect (left). Notice the tips of the propellers.

13. Air Circulation Across a Rotor: 5/12/201513

14. Bibliography Principles of Helicopter Flight, Second Edition, W.J. Wagtendonk GOOGLE Search Engine Pictures: 1. Big Quadcopter - Naza M. - www.coptercraft.com 2. Small Quadcopter - Nathan Hurst - www.wired.com 5. Video Quadcopter - Steve Lodefink - www.flickr.com 6. Wood - 3D Printed Vampire Quadcopter - www.3ders.org 7. Grass - XAIRCRAFT X650 QUADCOPTER - www.infmetry.com 8. Snow - microdrones GmbH - www.uasvision.com 9. Water - Jeffrey Hartog - www.makezine.com 10. Desert - Blade 350 QX Quadcopter - www.coolhunting.com 12. Quadcopter Sketch - roman01la - www.youtube.com 13. Helicopter air circulation patterns - www.faasafety.gov 14. Diagram - FabQuad - www.aeroquad.com 15. Helicopter Sketch - Jimi Brown - www.coroflot.com 16. Isaac Newton - www.news.discovery.com 17. Daniel Bernoulli - www.energyvanguard.com 18. Lift Formula - www.ppl-flight-training.com 5/12/201514

15. Acknowledgements A HUGE thanks to the following for offering this opportunity!: Jack Crabtree and ANSR Susan Brew, University of Arizona Arizona NASA Space Grant Prof. Mike Sampogna Dr. Denise Meeks

16. QUESTIONS? 5/12/201516 The hard part is yet to come as we prepare the quadcopter for flight and start collecting data as we work towards a model.