International Journal of Mechanical and Production

Engineering Research and Development (IJMPERD)

ISSN(P): 2249-6890; ISSN(E): 2249-8001
Vol. 9, Issue 3, Jun 2019, 359-368
© TJPRC Pvt. Ltd.

DEVELOPMENT OF VTOL UAV WITH MODULE FOR DIRECTION FINDING

KYOUNG-MOO MIN1, FOONG-YI CHIA2 & BONG-HWAN KIM3

1
Graduate School, Department of Automotive Engineering,
Gyeongnam National University of Science and Technology, Jinju, Korea
2
R&D Center, SAMCO, Sacheon, Korea
3
Department of Automotive Engineering, Gyeongnam National University of Science and Technology, Jinju, Korea
ABSTRACT

This paper discusses the design, fabrication and flight test of a vertical take-off and landing aircraft equipped
with a module capable of detecting the position of GPS disturbance signal (jamming signal)when such signal is detected.
During the initial shape design, an estimation of the aircraft weight was first made based on the aircraft components and
the bill of materials (BOM) of the aircraft. After reflecting the weight of all the components in the design, the shape
design of the main wing was performed, followed by center of gravity and neutral point estimation, and propulsion system
design. We have fabricated a UAV that can actually takeoff and land vertically and checked its flight performance
through real flight tests. An aerodynamic analysis is performed using XFLR5. The E-107 and NACA0012 airfoils were

Original Article
selected as the airfoils for the main wing and tail wings, respectively, and it is designed as H-Tail type for good structural
strength. The quad-copter is arranged such that the center of gravity (CG) of the quad-copter motors passes through the
neutral point (NP) of the aircraft.

KEYWORDS: VTOL UAV, XFLR5, Airfoil , Anti Jamming, Flight Test & Quad-Copter

Received: Mar 08, 2019; Accepted: Mar 28, 2019; Published: Apr 19, 2019; Paper Id.: IJMPERDJUN201939

INTRODUCTION

The aim of this research is to develop an unmanned aerial vehicle (UAV) capable of vertical take-off and
landing (VTOL) for the purpose of mounting a module capable of detecting the position of GPS disturbance signal
(jamming signal)when such signal is detected. In the military boundary area of Korea, there are ten ground
facilities to detect disturbing radio signals. However, if disturbance signals are generated behind mountainous
terrains, these ground facilities are not capable of direction finding. In order to solve this problem, a direction
detection and anti-jamming module are installed on a UAV to locate disturbance signals transmitted from remote
places at an altitude of 1 km. The direction finding and anti-jamming module weigh about 2.5kg and it has a
direction finding antenna at the top and an anti-jamming antenna at the bottom. The basic design of the UAV was
developed considering the required space and performance of the aircraft for easy mounting of the module
[1,2,3,4].

During the initial shape design, an estimation of the aircraft weight was first made-based on the aircraft
components and the bill of materials (BOM) of the aircraft. After reflecting the weight of all the components in the
design, the shape design of the main wing was then performed, followed by center of gravity and neutral point
estimation, and propulsion system design [4,5,6]. Finally, unmanned vertical take-off and landing aircraft was
manufactured and its performance was confirmed through flight tests. Figure 1 and Figure 2 show the initial shape

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360 Kyoung-Moo
Moo Min, Foong-Yi
Foong Chia & Bong-Hwan Kim

of the VTOL UAV capable of being equipped with anti-jamming

anti ing and direction finding module.

Figure 1: Isometric Shaded Drawing Figure 2 : 3D Rendering View

BASIC DESIGN OF THE AIRFRAME

Airfoil Selection

The airfoil selection is very important for the successful flight of an aircraft. The most stable airfoil can be found
from research. The airfoil for this aircraft is selected by choosing the airfoil with the highest lift value at the calculated
calculate
Reynolds Number (Re). The Reynolds number is calculated with the equation below.

(1)

Re is calculated to be 624,497 when cruise speed, V is28 m/s, mean aerodynamic chord, MAC
MA is 0.264 m, and air
kinematic viscosity, ν is 1.45*10-5 m2/s.

Four airfoils with high lift characteristics are selected and aerodynamic analysis was performed using XFLR5[7]
at Re= 624,500. Figure 3 shows the profiles of the four airfoil selections while Figure 4 shows the results of the analysis.
Figure 4 (a) shows that E-197
197 airfoil provides the highest lift and demonstrates smooth stall characteristics. As shown in
Figure4 (b), the E-197
197 airfoil provides the highest lift per drag compared to other airfoil
airfoil candidates. Figure 4 (c) shows that
the drag coefficient values at low angle-of-attack
angle attack (AOA) are almost identical for all the airfoils. Based on the analysis
results, E-197
197 was selected as the airfoil of the main wing. Since NACA 0012 is symmetric and has slightly better
performance than NACA 0015, NACA 0012 was chosen as the airfoil of the tail wings.

Figure 3: Airfoil Profiles

Wing and Platform Design

The maximum weight of the unmanned aircraft is estimated to be 23.5 kg and the lift (L) value is equal to the
weight of the aircraft during horizontal flight condition. Therefore, the area of the wing can be calculated eqn. (2) as shown
show
below.

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Development of VTOL UAV with Module for Direction Finding 361

(a) Cl vs. AoA (b) L/D vs. AoA (c) Cd vs. AoA
Figure 4: Lift, Drag and Pitching Moment Coefficients with AoA

W (2)

As the unmanned aircraft to be developed is a low-altitude aircraft, the sea-level air density (1.225 kg / m3) is
assumed and the cruise speed ( ) is 28 m/s, the required lift coefficient, 0.6 is calculated. As a result of the
2
calculation, the minimum size of the wing area ( ) is 0.8 m . The size of the tail wing was determined by calculating
the required size of the vertical tail and the horizontal tail to meet the target tail volume coefficients[8]. The target vertical
tail volume coefficient is 0.5 and the target horizontal tail volume coefficient is 0.04. The vertical tail volume coefficient
was calculated as 0.594, and the Horizontal Tail Volume Coefficient was calculated as 0.0383. The vertical tail volume
coefficient was calculated using eqn. (3) below.

∗"
Vv (3)
#∗$%&∗'()* +

Horizontal Tail Coefficient is calculated with eqn. (4) as shown below.

-. ∗ .
, (4)
#∗$%&

The specifications of the wings determined through calculations are shown in Table 1. Figure 5 shows the shape
and size of the platform and wing design of the UAV.

Table 1: Specifications of the Wings

Wing Area, Sw= 0.83 m2
Wing Span, b= 3.2 m
Mean Aerodynamic Chord, MAC= 0.264 m
Aspect Ratio, AR= 12.3
Wing Incidence= 1°
Wing Dihedral= 0°
Aircraft MTOW= 23.5 kg
Main Wing Airfoil=E-197, Tail Airfoil= NACA 0012

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362 Kyoung-Moo
Moo Min, Foong-Yi
Foong Chia & Bong-Hwan Kim

Figure 5: Shape and Dimension of Platform and Wings

Center of Gravity and Neutral Point Estimation

The aerodynamic effects of the wings and tails of the UAV were calculated through XFLR5 using the Panel
Method[7]. The calculation was performed by setting the maximum take-off
take off weight(MTOW) of the aircraft as 23.5 kg and
the cruise speed as 28 m/s. The simulation was performed to obtain the aircraft's
aircraft's neutral point (NP), and the target center of
gravity (CG) was calculated to be at 10% to 5% of the static margin (SM). The neutral point (NP) of the aircraft was
obtained at 122 mm and the center of gravity (CG) was calculated to be 100 mm. In order to obtain the Cm vs. AoA graph,
the simulation was performed again at the target center of gravity (CG) and the lift value at trim AoA was checked to
ensure that lift is sufficient. Figure 6 shows the XFLR5 analysis model, and Figure 7 shows the graphs of the calculation
and analysis results.

012 3 45
/ (5)
$%&

Figure 6: Simulation Model of the Platform by Using XFLR5

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Development of VTOL UAV with Module for Direction Finding 363

(a) Cm vs. AoA (b) Lift vs. AoA

(c)CL vs. AoA (d)CL/CD vs. AoA

Figure 7: Simulation Results Obtained from XFLR5

The center of gravity estimation was performed using CATIA by modeling each payload component and inputting
actual weight data to them. The payload components were arranged to achieve the target center of gravity (CG) of 100 mm.
Figure 8 shows the center of gravity (CG) calculated by CATIA and the placement of the components.

Figure 8: Center of Gravity (CG) Estimation and Arrangement of Payload Components

PROPULSION SYSTEM DESIGN

The motor and propeller were selected so that the thrust to weight ratio of the forward thrust motor was 2.
The propeller is selected through thrust test by choosing a propeller with a maximum thrust of exceeding 6 kg when a 12S
battery is used. We selected the propeller with a thrust above 6kg as a candidate through the ground thrust test and made
the final selection after checking the acceleration performance, efficiency and airframe vibration characteristics of the
propulsion system at the different RPM and airflow effects through actual flight test. The electronic speed controller (ESC)
with the capacity of 100A is selected considering the capacity safety margin. The vertical take-off motor is selected by

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364 Kyoung-Moo Min, Foong-Yi Chia & Bong-Hwan Kim

choosing a motor capable of hovering at below 70% of its maximum thrust.

In order to select the propeller, the motor thrust test was performed as shown in Table 2 and Table 3, and the
candidate propeller was confirmed based on the test data. The final selection of propeller was made through flight test.
The 17x13 propeller was chosen as the propeller for forwarding thrust and the 21.5x7.2 propeller was selected as the
propeller for vertical takeoff and landing as they show the best thrust and efficiency at the same size.

The arrangement of the quad-copter was such that the center of gravity (CG) of the quad-copter motor passes
through the neutral point (NP) of the aircraft. The aircraft’s CG is positioned at 100mm from the leading edge of the main
wing during forwarding flight, and the center of the quad-copter motors for vertical take-off and landing is located 22mm
aft the CG which is at 122mm from the leading edge. The quad-copter motors were arranged at a distance of 918mm from
each other in the X-axis and Y-axis and the optimal configuration was made such that there will not be a collision between
the forward propeller and the vertical propeller. Figure 9 shows the quad-copter arrangement.

Table 2: Test Results of Forward Thrust Motor

A60-16L/Flame HV 100A/12S 16,000 mAh
Propeller Thrust (kg) Amp (A)
MEJZLIK 16x12 6.5 54
MEJZLIK 16x14 6.5 62.3
MENZS 16x12 7.3 51.4
APC 16x12 7.5 53.4
APC 16x14 6.7 45
APC 17x13 9.0 46

Table 3: Test Results of Vertical Thrust Motor

Propeller Thrust (kg) Amp (A)
KDE 21.5x7.2 10.6 62.5
T-MOTOR 21x6.3 .6 48

Figure 9: Arrangement of the Quad-Copter

MANUFACTURE OF AIRFRAME

The first prototype of the airframe was produced during the PDR (Preliminary Design Review) and Critical
Design Review (CDR) stage and there were problems with the flight performance during the initial flight. The problems
were resolved by changing the configuration of the tail wing. Figure 10 shows a picture of the airframe produced.
The configuration of the tail was changed from inverted V-tail design to H-tail design so that it is structurally stronger.

Impact Factor (JCC): 7.6197 SCOPUS Indexed Journal NAAS Rating: 3.11
Development of VTOL UAV with Module for Direction Finding 365

The airfoil and wing area were also changed to obtain a higher lift coefficient. Also, the position of the pitot-tube
pitot was
changed due to reading errors which occurred due to vortex generation at the nose portion of the fuselage.

Figure 10: Manufactured Airframe Figure 11:Take-Off

Off Scene of the
GPS Direction Finding Test

FLIGHT TEST DATA

During the GPS direction finding

nding test, the flight test was performed at different altitudes as there was difficulty
performing the tests at long distances [9]. Figure 11 shows the take-off
off scene of the GPS direction finding flight test. Flight
test data were logged and shown in Figure
Figur 12 to Figure 15. The flight test was performed by sending regular pitch
up/down
/down commands, generating pitch angles of the UAV in the range of -10
10 to +10 degrees. The flight altitude was
maintained at 20 m and the flight velocity was between 2 ~ 4 m/s throughout
throughout the flight tests. It is confirmed that the
unmanned airplane responded very well to the flight commands. Figure 12, 13, and 14 show the ability of the UAV to
follow altitude, attitude, and velocity commands, respectively. Figure 15 shows a three-dimensional
nsional (3D) flight path.

Figure 12: Flight Altitude Graph

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366 Kyoung-Moo
Moo Min, Foong-Yi
Foong Chia & Bong-Hwan Kim

Figure 13: Flight Attitude Graph

Figure 14: Flight Velocity Graph

Figure 15 : 3D Trajectory Flight Path

CONCLUSIONS

The main purpose of this project is to determine the optimal airframe of a UAV to be equipped with a module
capable of detecting the position of the GPS disturbance signal (jamming signal) when such signal is detected. In this
study, XFLR5 was used for aerodynamic design and E-197
E 197 was selected as the main airfoil based on the
th analysis results.
A symmetrical airfoil, NACA 0012 was chosen as the airfoil of the tail wing and the H-tail
H tail configuration was selected to
enhance structural strength. The arrangement of the quad-copter
quad copter is such that the center of gravity (CG) of the quad-copter
quad

Impact Factor (JCC): 7.6197 SCOPUS Indexed Journal NAAS Rating: 3.11
Development of VTOL UAV with Module for Direction Finding 367

motor passes through the NP of the aircraft. The aircraft’s CG is positioned 100 mm from the leading edge of the main
wing during forwarding flight, and quad-copter motor center is located at 122mm, which is 22mm aft of the CG.
The quad-copter motors were arranged at a distance of 918mm from each other in the X-axis and Y-axis and the optimal
configuration was made such that there will not be a collision between the forward propeller and the vertical propeller.
It confirmed through flight test that the unmanned aircraft responses very well to flight commands.

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