multi objective conceptual design optimization of an agricultural aerial robot

205 Pages·2005·5.63 MB·English

MULTI OBJECTIVE CONCEPTUAL DESIGN OPTIMIZATION OF AN
AGRICULTURAL AERIAL ROBOT (AAR)

A THESIS SUBMITTED TO
THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES
OF
MIDDLE EAST TECHNICAL UNIVERSITY

BY

SEGAH ÖZDEMİR

IN PARTIAL FULFILLMENT OF THE REQUIREMENTS
FOR
THE DEGREE OF MASTER OF SCIENCE
IN
AEROSPACE ENGINEERING

SEPTEMBER 2005
Approval of the Graduate School of Natural and Applied Sciences.

____________________
Prof. Dr. Canan ÖZGEN
Director

I certify that this thesis satisfies all the requirements as a thesis for the degree of
Master of Science.

____________________________
Prof. Dr. Nafiz ALEMDAROĞLU
Head of the Department

This is to certify that we have read this thesis and that in our opinion it is fully
adequate, in scope and quality, as a thesis for the degree of Master of Science.

____________________________
Assoc. Prof. Dr. Ozan TEKİNALP

Supervisor

Examining Committee Members

Prof. Dr. İ. Sinan AKMANDOR (AEE, METU) ________________________
Assoc. Prof. Dr. Ozan TEKİNALP (AEE, METU) ________________________
Prof. Dr. Cahit ÇIRAY (AEE, METU) ________________________
Prof. Dr. Mehmet Şerif KAVSAOĞLU (UUBF,
________________________
ITU)
Dr. Fatih TEZOK (TAI) ________________________
PLAGIARISIM

I hereby declare that all information in this document has
been obtained and presented in accordance with academic rules
and ethical conduct. I also declare that, as required by these
rules and conduct, I have fully cited and referenced all material
and results that are not original to this work.

Name, Last name: Segah Özdemir
Signature :

iii
ABSTRACT
MULTI OBJECTIVE CONCEPTUAL DESIGN OPTIMIZATION OF AN
AGRICULTURAL AERIAL ROBOT

Segah Özdemir
M.Sc., Department of Aerospace Engineering
Supervisor: Assoc. Prof. Dr. Ozan Tekinalp

September 2005, 182 pages

Multiple Cooling Multi Objective Simulated Annealing algorithm has
been combined with a conceptual design code written by the author to carry out
a multi objective design optimization of an Agricultural Aerial Robot. Both the
single and the multi objective optimization problems are solved. The
performance figures of merits for different aircraft configurations are compared.
In this thesis the potential of optimization as a powerful design tool to the
aerospace problems is demonstrated.

Keywords: Airplane Design, Aerial Agriculture, Agricultural UAV, Multi
Objective Optimization, Simulated Annealing, Hide-and-Seek

iv
ÖZ
TARIMSAL ROBOT UÇAK KAVRAMSAL TASARIMI ENİYİLEMESİ

Segah Özdemir
Yüksek Lisans, Havacılık ve Uzay ,Mühendisliği Bölümü
Tez Yöneticisi: Doç. Dr. Ozan Tekinalp

Eylül 2005, 182 sayfa

Çoklu Soğutma-Çok Amaçlı Tavlama Benzetimi Yöntemi yazar tarafından
yazılan bir tasarım aracı kullanılarak Tarımsal Robot Uçak çok amaçlı
eniyilemesini yapmak üzere birleştirilmiştir. Hem tek hem de çok amaçlı
eniyileme problemleri çözülmüştür. Farklı uçak yapılandırmalarının performans
değer katsayıları karşılaştırılmıştır. Bu tezde eniyilemenin havacılık ve uzay
problemleri için güçlü bir tasarım aracı olabilme potansiyeli gösterilmiştir.

Anahtar kelimeler: Uçak Tasarımı, Havai Tarım, İnsansız Zirai ilaçlama Hava
Aracı, Çok amaçlı Eniyileme, Tavlama Benzetimi Yöntemi, Sakla ve Ara.

v
To my parents Hacer&Ramazan Özdemir
and my brother Emrah for their love, encouragement, prayers and
support.

vi
ACKNOWLEDGMENTS
A great amount of gratitude and appreciation is extended to my supervisor
Assoc. Prof. Dr. Ozan Tekinalp for his great amount of knowledge, vision,
understanding and friendship. I would like to express my sincere thanks to my
supervisor for allowing me to work with him and for believing me. I wouldn’t
have achieved this if he hadn’t seen me through this thesis.
The same gratitude is extended to the Department of Aerospace
Engineering for training me as a good engineer.
No substantial challenge comes without sacrifice. For this reason, the
greatest thanks go to my parents and my brother, Emrah, for providing me their
utmost support and also for their endless love and thrust. Their role in this study
is inestimable.
My special thanks go to my dear friends, İsmail Karataş, Müjde Sarı,
İbrahim Sarı, Kutluk Bilge Arıkan, Dr. Serkan Güroğlu and Ali Emre Turgut for
sharing their talents and experience with me.
Also, I would like to thank Mustafa Kaya and Monier El-fara for their
moral support and help.
Finally thanks to Dr. Fatih Tezok and my colleagues in TAI for creating
me a good environment for me to love my job.
vii
TABLE OF CONTENTS

PLAGIARISM……………………………………………………………………. iii
ABSRACT………………………………………………...………………………. iv
OZ………………………………………………………………………………… v
ACKNOWLEDGMENT………………………………………………………... vii
TABLE OF CONTENTS…………………………………………………………. viii
LIST OF TABLES………………………………………………………………... xii
LIST OF FIGURES………………………………………………………………. xv
NOMENCLATURE………………………………………………………………. xviii

CHAPTER
1. INTRODUCTION…………………………………………………………. 1
1.1. Motivation, Justification, and Purpose………………………………... 1
1.2. Literature Survey ………………………………..…………………… 6
1.2.1. History of the Agricultural Aircraft …………………………… 6
1.2.2. Agricultural UAV’s ………….………………………………… 10
1.2.3. Aircraft Design Optimization …………………………………. 12
1.2.4. Optimization Methods Used in Aircraft Design……………….. 14
1.2.5. Multi Objective Design Optimization…………………………. 16
1.3. Original Contributions………….……………………………………… 17
1.4. The Scope of the Thesis………………………………………………. 18
2. AGRICULTURAL MISSION DEFINITION……………………………… 20
2.1. Agricultural Mission, Operational Flying and Techniques……………. 20
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2.1.1. Take-off Surface……………………………………………....... 21
2.1.2. Loading ………………………………………………………... 21
2.1.3. Taxing …………………………………………………………. 22
2.1.4. Turns …………………………………………………………... 22
2.1.5. Acceleration ………………………………………………….... 24
2.1.6. Wind Direction and Force……………………………………… 25
2.1.7. Obstructions …………………………………………………… 26
2.1.8. Agricultural Patterns…………………………………………… 27
2.2. Competitor Study and Characteristics of ZIU………………………..... 29
2.3. Requirements…………………………………………………………... 30
2.4. The Mission Profile of An Agricultural Aerial Robot………………… 31
2.5. Agricultural Spraying Pattern and Flight Characteristics……………... 32
2.6. Path Planning For Agricultural Aerial Robot………………………….. 33
3. MATHEMATICAL MODELS USED IN DESIGN
OPTIMIZATION……………………………………………………………. 35
3.1. Overall configuration………………………………………………….. 35
3.1.1. Structural Concept……………………………………………… 36
3.1.2. Fuselage……………………………………………………….... 37
3.1.3. Wing Assembly……………………………………………..….. 37
3.1.4. Booms and Tails…………………………………………….….. 37
3.1.5. Engine Specification………………………………………..….. 38
3.1.6. Propeller ……………………………………………………….. 38
3.1.7. Fuel Storage ……………………………………………………. 39
3.1.8. Hopper Tank …………………………………………………… 39
3.1.9. Landing Gear System General Description ……………………. 40
ix
3.2. The Weight Model of the Airplane – First Estimate…………………... 40
3.2.1. Take off Weight Buildup ………………………………...…….. 40
3.2.2. Empty Weight Fraction Estimation…………………………….. 41
3.2.3. Fuel Fraction Estimation……………………………………….. 42
3.3. Estimation of Critical Performance Parameters ………………………. 47
3.3.1. Maximum Lift Coefficient……………………………………... 47
3.3.2. Wing Loading………………………………………………….. 53
3.3.3. Power to Weight Ratio…………………………………………. 54
3.4. Configuration Layout -Geometrical Models ………………………….. 56
3.4.1. Wing Configuration Model ……………………………………. 56
3.4.2. Fuel Tank Configuration Model………………………………... 58
3.4.3. Horizontal Tail and Vertical Tail Configuration Model……….. 60
3.4.4. Control Surfaces Model………………………………………... 63
3.4.5. Fuselage Configuration Model…………………………………. 65
3.4.4. Propeller Model………………………………………………… 67
3.4.5. Landing Gear Model and The Wing Location Estimation……... 69
3.5. Agricultural Sizing Model……………………………………………... 72
3.6. Better Weight Estimate Model………………………………………… 74
3.7. Center of Gravity Location Model…………………………………….. 76
3.8. Aerodynamics Model …………………………………………………. 79
3.8.1. Lift Curve Slope Calculations …………………………………. 79
3.8.2. Estimation of C by Component Buildup Method……………. 80
D0
3.8.3. Drag Polar……………………………………………………… 86
3.8.4. Ground Effect…………………………………………………... 87
3.9. Performance Model …………………………………………………… 88
3.9.1. Figure of Merits for Performance………………………………. 90
x