diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..6f95fed --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,67 @@ +name: CI + +on: + push: + branches: [master] + pull_request: + branches: [master] + +env: + PYTHON_VERSION: "3.12" + UV_LOCKED: "1" + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + lint: + runs-on: ubuntu-latest + timeout-minutes: 10 + steps: + - name: Checkout + uses: actions/checkout@v4 + + - name: Install uv + uses: astral-sh/setup-uv@v4 + with: + enable-cache: true + python-version: ${{ env.PYTHON_VERSION }} + + - name: Install Task + uses: arduino/setup-task@v2 + with: + version: "3" + + - name: Install dependencies + run: uv sync + + - name: Format, lint, and type-check + run: task format + + - name: Fail if formatting changed files + run: git diff --exit-code + + test: + runs-on: ubuntu-latest + timeout-minutes: 10 + steps: + - name: Checkout + uses: actions/checkout@v4 + + - name: Install uv + uses: astral-sh/setup-uv@v4 + with: + enable-cache: true + python-version: ${{ env.PYTHON_VERSION }} + + - name: Install Task + uses: arduino/setup-task@v2 + with: + version: "3" + + - name: Install dependencies + run: uv sync + + - name: Run tests + run: task test diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0de4938 --- /dev/null +++ b/.gitignore @@ -0,0 +1,173 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +../.coverage +.coveragerc +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/latest/usage/project/#working-with-version-control +.pdm.toml +.pdm-python +.pdm-build/ + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +.idea +.idea? +.DS_Store +.DS_Store? + +# pixi environments +.pixi +*.egg-info + +/logs/log_* diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..6970dd5 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,32 @@ +ci: + skip: [pytest] + +default_language_version: + python: python3.12 + +repos: +- repo: https://github.com/pre-commit/pre-commit-hooks + rev: v5.0.0 + hooks: + - id: trailing-whitespace + args: [--markdown-linebreak-ext=md] + - id: end-of-file-fixer + - id: check-yaml + - id: debug-statements + - id: name-tests-test + - id: requirements-txt-fixer +- repo: https://github.com/pre-commit/mirrors-mypy + rev: v1.15.0 + hooks: + - id: mypy + additional_dependencies: [types-pyyaml] + exclude: ^testing/resources/ +- repo: https://github.com/astral-sh/ruff-pre-commit + rev: v0.9.10 + hooks: + - id: ruff + types_or: [python, pyi] + args: [--fix] + - id: ruff-format + types_or: [python, pyi] + args: [--line-length=88] diff --git a/.python-version b/.python-version new file mode 100644 index 0000000..e4fba21 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.12 diff --git a/AeroDrag.py b/AeroDrag.py deleted file mode 100644 index b5cca64..0000000 --- a/AeroDrag.py +++ /dev/null @@ -1,51 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np -from scipy import integrate - -# Tony Smoragiewicz -# August 2021 -# VTOL drone design optimization - -# Drag components from induced, parasitic, and form drag - - -def TotalDrag(S, b, Cl, Cd0, vel, rho): - q = 0.5*rho*vel**2 - gamma = 1 - - drag_body = q*0.2*0.02 - drag_ind = InducedDrag(S, b, Cl, Cd0, gamma, vel, rho) - drag_para = ParasiticDrag(S, b, vel, rho) - drag = drag_ind + drag_para + drag_body - return drag - -# Drag from skin friction - - -def ParasiticDrag(S, b, vel, rho): - q = 0.5*rho*vel**2 # dynamic pressure - mu = 1.75*10**-5 # dynamic viscosity - c = S/b # chord length - Re = rho*vel*c/mu - Re_x = 2*10**6 # Reynolds number for transition - if Re < Re_x: - Cf = 1.328/np.sqrt(Re) # Laminar - else: - Cf = 0.027/(Re**(1/7)) # Turbulent - - # multiply by 2 for top and bottom of wing surface - drag = 2*q*np.mean(Cf)*S - return drag - -# Lift induced drag - - -def InducedDrag(S, b, Cl, Cd0, gamma, vel, rho): - q = 0.5*rho*vel**2 # dynamic pressure - AR = b**2/S - # fourth order polynomial fit to emperical data - fxn = 0.0524*gamma**4 - 0.15*gamma**3 + 0.1659*gamma**2 - 0.0706*gamma + 0.0119 - e = 1/(1+fxn*AR) - Cd_ind = Cd0 + Cl**2/(np.pi*AR*e) - drag = q*Cd_ind*S - return drag diff --git a/Airfoil.py b/Airfoil.py deleted file mode 100644 index c110177..0000000 --- a/Airfoil.py +++ /dev/null @@ -1,23 +0,0 @@ -import numpy as np -import matplotlib.pyplot as plt - - -def airfoil(c, t, a, b): - steps = 100 - x = np.linspace(0, c, steps) - T = t/0.2*(0.2969*np.sqrt(x)-0.1260*x-0.3516*x**2+0.2843*x**3-0.1015*x**4) - Z = a*((b-1)*x**3-b*x**2+x) - Z_upper = Z + 0.5*T - Z_lower = Z - 0.5*T - return Z_upper, Z_lower, x - - -c = 1 -t = 0.12 -a = 0.1 -b = 0.1 - -Z_upper, Z_lower, x = airfoil(c, t, a, b) -plt.plot(x, Z_upper) -plt.plot(x, Z_lower) -plt.show() diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 0000000..2e7ad5b --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,40 @@ +# CLAUDE.md + +This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository. + +## What this is + +A generative design tool for the *initial design phase* of a tiltrotor (VTOL) UAV. Given a set of aircraft constraints in `inputs.csv` (mass, span, airfoil coefficients, thickness ratio), it sweeps wingspan and cruise velocity to model drag, hover power, structural limits, and battery sizing, then reports the design that maximizes flight range and plots the trade-space. + +The package name is `uav_design`. It models skin-friction, form, and induced drag; disk-loading hover power; FAA structural loading limits via Euler beam theory; taper/induced drag; and battery considerations for electric flight. + +## Commands + +Uses uv + a Taskfile (go-task). Python 3.12. Runtime deps in `[project.dependencies]`; dev tooling (pytest, ruff, mypy, pre-commit) in `[dependency-groups.dev]`. + +```bash +task init # uv sync + install pre-commit hooks +task run # run the design sweep over inputs.csv and show plots +task format # ruff format + ruff check --fix + mypy +task test # pytest with coverage over uav_design/ +task ci # format + test (local CI mirror) +task clean # remove .venv, caches, build artifacts +``` + +Run a single test: +```bash +uv run pytest tests/structures_test.py -v +``` + +## Layout + +- `uav_design/` — the package. + - `__main__.py` — the design sweep: reads `inputs.csv`, iterates over wingspan/velocity, computes the trade-space, prints the optimal aircraft details, and plots flight radius and hover time. Run with `python -m uav_design`. + - `read_inputs.py` — parses `inputs.csv` into the constraint vector. + - `aero_drag.py` — total, parasitic (skin-friction), and induced drag. + - `hover.py` — hover power (disk loading) and take-off/landing energy. + - `structures.py` — Euler beam theory: moments of area, point/uniform/triangle loads, torsion and bending strain. + - `wing_calculations.py` — iterative wing-mass minimization against the strain limit. + - `airfoil.py` — standalone NACA-style airfoil profile plot. +- `inputs.csv` — the aircraft constraints you edit to tailor a design. +- `tests/` — pytest suite mirroring the package modules. diff --git a/GenerativeDesign.py b/GenerativeDesign.py deleted file mode 100644 index fe03bc5..0000000 --- a/GenerativeDesign.py +++ /dev/null @@ -1,185 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -from mpl_toolkits.mplot3d import axes3d -from ReadInputs import ReadInputs -from WingCalculations import WingMass -from AeroDrag import TotalDrag -from Hover import PowerHover, EnergyTakeOff - -# Tony Smoragiewicz -# August 2021 -# VTOL drone design optimization - -__file__ = 'inputs.csv' -inputs = ReadInputs(__file__) # Read inputs from csv file -mass = inputs[0] # Aircraft total mass -if mass > 24.95: # FAA limit is 55lbs - mass = 24.95 -overall_span = inputs[1] # tip to tip of propellors -useable_span = 0.9*overall_span # a/c body is 10% of span -vel = np.arange(15, 45.1, 0.25) # meters/s -# wing_span = np.arange(0.5*useable_span, 2*useable_span, 0.01) # meters -wing_span = np.arange(0.5*useable_span, 0.9*useable_span, 0.01) # meters -num_props = 2 - -# Airfoils Parameters -Cl_max = inputs[2]/0.95 # Lift coefficient - max -Cl = inputs[3]/0.95 # Lift coefficient - cruise -Cd0 = inputs[4] # Drag coefficient - cruise -Cm = inputs[5] # Moment coefficient - maximum -tc = inputs[6] # thickness ratio (thickness/chord) - -########################################################################## -### --- DON'T EDIT BELOW THIS LINE --- ################################### -########################################################################## - -# Atmospheric Conditions -p = 101*10**3 # pressure -C = 25 # temp in Celius -R = 287.058 # gas constant J/kg/K -T = 273 + C # temp in Kelvin -rho = p/(R*T) # air density -q = 1/2*rho*vel**2 # dynamic pressure -g = 9.81 - -wing_mass = np.zeros((len(wing_span), len(q))) -wing_AR = np.zeros((len(wing_span), len(q))) -wing_area = np.zeros((len(wing_span), len(q))) -wing_strain = np.zeros((len(wing_span), len(q))) -wing_t = np.zeros((len(wing_span), len(q))) - -# Calculate wing parameters -print("Calculating structure...") -for i in range(len(wing_span)): - for j in range(len(q)): - m, AR, S, strain, thickness = WingMass( - mass, wing_span[i], q[j], Cl, Cm, tc) - wing_mass[i][j] = m - wing_AR[i][j] = AR - wing_area[i][j] = S - wing_strain[i][j] = strain - wing_t[i][j] = thickness - -wing_mass = wing_mass.T -wing_AR = wing_AR.T -wing_area = wing_area.T -wing_strain = wing_strain.T -wing_t = wing_t.T - -wing_span, q = np.meshgrid(wing_span, q) -vel = np.sqrt(2*q/rho) -prop_diameter = useable_span-wing_span - -# Calculate aero drag parameters -print("Calculating drag...") -print() -power_drag = np.zeros(wing_mass.shape) -power_hover = np.zeros(wing_mass.shape) -hover_whr = np.zeros(wing_mass.shape) -r, c = power_drag.shape -for i in range(r): - for j in range(c): - total = TotalDrag(wing_area[i][j], wing_span[i] - [j], Cl, Cd0, vel[i][j], rho) - power_drag[i][j] = vel[i][j]*total - power_hover[i][j] = PowerHover(mass, prop_diameter[i][j], num_props) - hover_whr[i][j] = EnergyTakeOff( - power_hover[i][j], wing_area[i][j], rho) - -# Battery parameters -batt_mass = 0.35*mass-wing_mass -batt_whr = 120*batt_mass -batt_cost = batt_whr/1.56 -batt_whr = batt_whr - hover_whr - -# Max hover time -hover_time = batt_whr/power_hover*60 # hover time in minutes - -# Flight Range -duration = batt_whr/power_drag*60*60 # flight time in seconds -distance = vel/1000 * duration -idx = np.isnan(wing_strain) -distance[idx] = float('NaN') -hover_time[idx] = float('NaN') -max_distance = np.nanmax(distance) -max_distance99 = np.where(distance >= 0.98*(max_distance)) - -km_per_whr = distance/batt_whr -km_per_kwhr = km_per_whr*1000 -dollar_per_kwhr = 0.21 # euro per kwh -km_per_dollar = km_per_kwhr/dollar_per_kwhr -max_km_per_dollar = np.nanmax(km_per_dollar) - -# Final Outputs -ind = np.unravel_index(np.nanargmax(distance, axis=None), distance.shape) -max_hover_ind = np.unravel_index( - np.nanargmax(hover_time, axis=None), distance.shape) -AR = wing_AR[ind] -S = wing_area[ind] -b = wing_span[ind] -c = S/b -prop_diam = prop_diameter[ind] -spar = np.floor(1000*(c*tc - 2*0.001))/1000 -thickness = wing_t[ind] -cruise = vel[ind] -stall = np.sqrt(2*mass*g/(rho*S*Cl_max)) -kwhr = batt_whr[ind]/1000 - -########################################################################## -### --- Write A/C details to terminal --- ################################ -########################################################################## -data = [["Flight radius:", round(max_distance/2, 2), "km"], - ["Hover time:", round(hover_time[ind], 1), "min"], - ["Total Mass:", round(mass, 3), "kg"], - ["Total Width:", round(overall_span, 2), "m"], - ["Aspect Ratio:", round(AR, 1), ""], - ["Wing Area:", round(S, 3), "m2"], - ["Wing Span:", round(b, 3), "m"], - ["Chord:", round(c, 3), "m"], - ["Spar:", 1000*spar, "mm"], - ["Thickness:", thickness*1000, 'mm'], - ["Prop Diameter:", round(prop_diam, 3), "m"], - ["Span to Prop Ratio:", round(b/prop_diam, 2), ""], - ["Air density:", round(rho, 3), "kg/m3"], - ["Cruise Velocity:", round(cruise, 2), "m/s"], - ["Stall Velocity:", round(1.2*stall, 2), "m/s"], - ["Battery size:", round(kwhr, 3), "kwhr"]] - -dash = '-' * 40 -print("Tiltrotor Details:") -print(dash) - -for i in range(len(data)): - print('{:<23s}{:^6.2f}{:<10s}'.format(data[i][0], data[i][1], data[i][2])) - -########################################################################## -### --- Plot Data --- #################################################### -########################################################################## - -# Flight Radius -plt.subplot(121) -levels = max_distance/2*np.array([0.2, 0.4, 0.6, 0.8, 0.9, 0.95, 0.99, 1.05]) -CS = plt.contour(wing_span, vel, distance/2, levels) -plt.clabel(CS, CS.levels, inline=True, fontsize=10) -plt.plot(wing_span[ind], vel[ind], 'ro') -CS = plt.contour(wing_span, vel, prop_diameter, 5) -plt.clabel(CS, CS.levels, inline=True, fontsize=10) -plt.title('Flight Radius (km)') -plt.xlabel('Wingspan (m)') -plt.ylabel('Vel (m/s)') - -# Hover Time -plt.subplot(122) -levels = hover_time[max_hover_ind] * \ - np.array([0.2, 0.4, 0.6, 0.8, 0.9, 0.95, 0.99, 1.05]) -CS = plt.contour(wing_span, vel, hover_time, levels) -plt.clabel(CS, CS.levels, inline=True, fontsize=10) -plt.plot(wing_span[max_hover_ind], vel[max_hover_ind], 'ro') -CS = plt.contour(wing_span, vel, prop_diameter/b, 5) -plt.clabel(CS, CS.levels, inline=True, fontsize=10) -plt.title('Max Hover Time (min)') -plt.xlabel('Wingspan (m)') -plt.ylabel('Vel (m/s)') - -plt.show() diff --git a/Hover.py b/Hover.py deleted file mode 100644 index 0002aa7..0000000 --- a/Hover.py +++ /dev/null @@ -1,35 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -# power required to hover in watts - - -def PowerHover(mass, diameter, num_of_props): - - disk_loading = [36.62, 2929.45] - hovering_eff = [6.080, 0.608] - curve = np.polyfit(np.log(disk_loading), hovering_eff, 1) - - area = num_of_props*np.pi*diameter**2/4 - prop_load = mass/area - kg_kW = curve[0]*np.log(prop_load) + curve[1] - power = mass/kg_kW*1000 # convert to watts - return power - - -def EnergyTakeOff(power_hover, wing_area, rho): - ascent = 4 # m/s - descent = 3 - alt = 120 # meters - Cd = 1.1 # flat plate - # power drag from fuselage & wing - power_climb = 0.5*rho*Cd*(1.2*wing_area)*ascent**3 - - time_hr = alt/ascent/60/60 - whr_ascent = 2*time_hr*(power_hover+power_climb) - - time_hr = alt/descent/60/60 - whr_descent = 2*time_hr*power_hover - - whr = whr_ascent + whr_descent - return whr diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..12447dc --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 Tony Smoragiewicz + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index 1f38ead..7dfb154 100644 --- a/README.md +++ b/README.md @@ -1,60 +1,72 @@ # UAV-Code -This program was created to help streamline the *initial design phase* when creating a tiltrotor aircraft. This type of a/c helps fill the need for efficient cargo carring drones that can operate without a runway and/or landing strip. This project was completed to help [AerospaceNU](https://www.aerospacenu.com/), the aerospace club of Northeastern University during the Fall 2021 semester. The image below represents an example of what a prototype could look like given the outputs. +## Summary +This program streamlines the *initial design phase* of a tiltrotor aircraft. This type of aircraft helps fill the need for efficient cargo-carrying drones that can operate without a runway or landing strip. It was built for [AerospaceNU](https://www.aerospacenu.com/), the aerospace club of Northeastern University, during the Fall 2021 semester. The image below shows an example of a prototype that could be built from the outputs. \ \ ## About the program -I tried to be very complete in creating a useful model to streamline the initial design phase. The model is not without assumptions but (in my opinion) represents a helpful tool in novel a/c design. -\ -\ -Some physical phenomenon that are modeled include: - - Skin friction drag with a boundary layer theory. +The model is intended to be a useful, if approximate, tool for the initial design phase. It is not without assumptions but represents a helpful starting point for novel aircraft design. Some of the physical phenomena that are modeled include: + - Skin-friction drag with boundary-layer theory - Form drag from airfoil data - FAA structural loading limits - Disk loading to estimate hovering power costs - Taper ratio and induced drag - - Euler bending beam theory for thin structures (torsion and bending) + - Euler bending-beam theory for thin structures (torsion and bending) - Battery considerations for electric flight -## Using the program -Edit this file to your chosen airfoil and a/c dimensions: -``` -inputs.csv -``` -Main fuction that puts everything together: -``` -$ python GenerativeDesign.py +## Setup +This project uses [uv](https://docs.astral.sh/uv/) and [go-task](https://taskfile.dev/). +1. install `uv` and `task` +2. `git clone https://github.com/Tsmorz/UAV-Code.git` +3. `task init` to create the virtual environment and install the pre-commit hooks + +## Running +Edit `inputs.csv` with your chosen airfoil coefficients and aircraft dimensions (mass, wingspan, coefficient of lift, etc.), then run the design sweep: +```bash +task run ``` - - ReadInputs.py - Specific data to the aircraft like mass, wingspan, coefficient of lift, etc.: - - AeroDrag.py - Skin friction, form, and induced drag calculations: - - Hover.py - Power and energy requirements from hovering flight: - - Structures.py - Euler beam theory and associated equations - - WingCalculations.py - Iterative process to reduce wing mass: - - UAVdesign.py - miscellaneous calculations and tradeoffs: +The package modules are: + - `uav_design/read_inputs.py` — reads aircraft data (mass, wingspan, lift coefficient, etc.) from `inputs.csv` + - `uav_design/aero_drag.py` — skin-friction, form, and induced drag calculations + - `uav_design/hover.py` — power and energy requirements for hovering flight + - `uav_design/structures.py` — Euler beam theory and associated equations + - `uav_design/wing_calculations.py` — iterative process to minimize wing mass + - `uav_design/__main__.py` — puts everything together and produces the plots and terminal output + - `uav_design/airfoil.py` — standalone airfoil profile plot ## Expected output -The plots below give an example of the expected output when you run ```$ python GenerativeDesign.py``` in your terminal. The red dot denotes the ideal starting design to maximize flight duration given the current constraints. Please adjust the inputs.csv file to tailor the program to your needs. The far right image is the expected output on your terminal. Use these dimensions to design the a/c model. +The plots below give an example of the expected output. The red dot denotes the ideal starting design to maximize flight duration given the current constraints. Adjust `inputs.csv` to tailor the program to your needs. The far-right image is the expected terminal output — use these dimensions to design the aircraft model. \ \ -Important things of note are: - - The white area in the upper right corner of each plot is ***beyond the structural limit and the a/c will fail!*** - - The rotors *always* extend past the wing tips. See the above photo for an example model. - - The program assumes all structural load is taken by carbon fiber spars in the wings. - +Important things to note: + - The white area in the upper-right corner of each plot is ***beyond the structural limit and the aircraft will fail!*** + - The rotors *always* extend past the wing tips. See the photo above for an example model. + - The program assumes all structural load is carried by carbon-fiber spars in the wings. +

+## Adding to the repo +1. Create a new branch before making changes:\ +`git checkout -b new-branch-name` + +2. Track changes as you go:\ +`git add file_that_changed`\ +`git commit -m "a useful message"`\ +`git push` + +3. Add unit and integration tests for new functionality in the `tests` directory. Run them with `task test`. ## Cited Works -Numerous studies were used to find relevant equations to create a realistic model. Please use the following thinks to access the original papers. Some files may have a paywall that limit access. +Numerous studies were used to find relevant equations for a realistic model. Some links may be behind a paywall. - https://www.researchgate.net/figure/XV-15-tiltrotor-aircraft-layout-Ref-9_fig3_23847162 - https://www.sciencedirect.com/science/article/pii/S2352146518300383 - - https://books.google.nl/books?id=-PnV2JuLZi4C&pg=PA42&lpg=PA42&dq=power+required+to+hover+watts+per+kg&source=bl&ots=iS07eZFRKr&sig=ACfU3U2BjfLfAVHgaFQWmAX8z5_0TVsmUQ&hl=en&sa=X&ved=2ahUKEwjDx7Pg9ZvyAhWho3EKHU_EAwoQ6AF6BAgeEAM#v=onepage&q=power%20required%20to%20hover%20watts%20per%20kg&f=false + - https://books.google.nl/books?id=-PnV2JuLZi4C&pg=PA42&lpg=PA42&dq=power+required+to+hover+watts+per+kg - http://www.epi-eng.com/propeller_technology/selecting_a_propeller.htm - http://airfoiltools.com/airfoil/details?airfoil=sd7062-il - - https://www.risingup.com/fars/info/part23-337-FAR.shtml + - https://www.risingup.com/fars/info/part23-337-FAR.shtml diff --git a/ReadInputs.py b/ReadInputs.py deleted file mode 100644 index 1d58cde..0000000 --- a/ReadInputs.py +++ /dev/null @@ -1,13 +0,0 @@ -from csv import reader -import numpy as np - - -def ReadInputs(__file__): - constraints = [] - with open(__file__, newline='') as csvfile: - filereader = reader(csvfile, delimiter=',', quotechar='|') - for row in filereader: - constraints = np.hstack([constraints, row[1]]) - constraints = constraints[1:] - constraints = constraints.astype(float) - return constraints diff --git a/Structures.py b/Structures.py deleted file mode 100644 index 8850e81..0000000 --- a/Structures.py +++ /dev/null @@ -1,93 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np - -# Tony Smoragiewicz -# August 2021 -# VTOL drone design optimization - -# Second moment of area for hollow cylinder - - -def MomentOfArea(diameter, thickness): - R1 = diameter/2 - R2 = (diameter-2*thickness)/2 - Ix = np.pi/4*(R1**4-R2**4) - Iy = np.pi/4*(R1**4-R2**4) - Iz = np.pi/4*(R1**4-R2**4) - return Iz - -# Polar moment of area for hollow cylinder - - -def PolarMoment(diameter, thickness): - J = np.pi/32*(diameter**4 - (diameter-2*thickness)**4) - return J - -# Max moment from a point load wing tips - - -def PointLoad(F, L, E, I): - x = np.arange(start=0, stop=L, step=0.1) - delta = -F*x**2/(6*E*I)*(3*L - x) - slope = -F*x/(2*E*I)*(2*L - x) - moment = -F*(L - x) - shear = F - return max(moment) - -# Max moment from a uniform distributed load - - -def UniformLoad(w, L, E, I): - x = np.arange(start=0, stop=L, step=0.01) - delta = -w*x**2/(24*E*I)*(6*L**2 - 4*L*x + x**2) - slope = -w*x/(6*E*I)*(3*L**2 - 3*L*x + x**2) - moment = -w*(L - x)**2/2 - shear = w*(L - x) - ''' - plt.plot(x, delta, 'k-') - plt.plot(-x, delta, 'k-') - plt.xlabel('Span') - plt.ylabel('Deflection') - plt.axis('equal') - plt.show() - ''' - return max(moment) - -# Max moment from a uniform distributed load - - -def TriangleLoad(p, L, E, I): - x = np.arange(start=0, stop=L, step=0.01) - delta = -p/(120*E*I*L)*x**2*(10*L**3 - 10*x*L**2 + 5*x**2*L - x**3) - slope = -p/(24*E*I*L)*x*(4*L**3 - 6*x*L**2 + 4*x**2*L - x**3) - moment = -p/(6*L)*(L - x)**3 - shear = p/(2*L)*(L - x)**2 - return max(moment) - -# Twist angle from distributed torsion - - -def DistributedTorsion(M, L, J, G): - Mx = M/L - x = np.arange(start=0, stop=L, step=0.01) - phi = Mx*x/(J*G) - phi_deg = 180/np.pi*phi - return phi_deg - -# Maximum torsion strain - - -def TorsionStrain(M, J, diameter, G): - r = diameter/2 - tau = M*r/J - gamma = tau/G - return gamma - -# Maximum bending strain - - -def BendingStrain(M, E, Ic, diameter): - c = diameter/2 - sigma = M*c/Ic # stress - epsilon = sigma/E # strain - return epsilon diff --git a/Taskfile.yml b/Taskfile.yml new file mode 100644 index 0000000..e8e3c1d --- /dev/null +++ b/Taskfile.yml @@ -0,0 +1,49 @@ +version: "3" + +tasks: + default: + desc: List available tasks + cmds: + - task --list + + init: + desc: Install dependencies and create the virtual environment + cmds: + - uv sync + - uv run pre-commit install + - echo "Created virtual environment" + + run: + desc: "Run the generative design tool over inputs.csv" + cmds: + - uv run python -m uav_design + + test: + desc: Run the test suite with coverage + cmds: + - uv run pytest --cov=uav_design/ --cov-report=term-missing --no-cov-on-fail + + format: + desc: Format, lint, and type-check the code + cmds: + - uv run ruff format + - uv run ruff check --fix + - uv run mypy uav_design/ tests/ --ignore-missing-imports + + ci: + desc: Run the full CI suite locally (format + test) + cmds: + - task: format + - task: test + + clean: + desc: Remove the virtual environment, caches, and build artifacts + cmds: + - rm -rf .venv + - rm -rf .mypy_cache + - rm -rf .pytest_cache + - rm -rf .ruff_cache + - rm -rf build/ + - rm -rf dist/ + - find . -name ".coverage*" -delete + - find . -name "__pycache__" -exec rm -r {} + diff --git a/WingCalculations.py b/WingCalculations.py deleted file mode 100644 index e138b6a..0000000 --- a/WingCalculations.py +++ /dev/null @@ -1,105 +0,0 @@ -import matplotlib.pyplot as plt -import numpy as np -from Structures import MomentOfArea, PolarMoment -from Structures import PointLoad, UniformLoad, TriangleLoad -from Structures import DistributedTorsion -from Structures import TorsionStrain, BendingStrain - -# Tony Smoragiewicz -# August 2021 -# VTOL drone design optimization - -# Reduce wall thickness until strain limit - - -def WingStrain(w, F, M, diameter, thickness, L, E, G): - I = MomentOfArea(diameter, thickness) - J = PolarMoment(diameter, thickness) - - # Lifting by wingtips - moment = PointLoad(F, L, E, I) - # FAA Limit - moment = UniformLoad(w, L, E, I) - # Twist angle from distributed torsion - phi = DistributedTorsion(M, L, J, G) - phi_safe = DistributedTorsion(M, L, J, G) - - # Maximum strains from bending and torsion - strain_torsion = TorsionStrain(M, J, diameter, G) - strain_bending = BendingStrain(moment, E, I, diameter) - strain_total = np.sqrt(strain_bending**2 + strain_torsion**2) - max_strain_percentage = strain_total/0.015*100 - return max_strain_percentage - -# Minimize wing mass given: -# span, velocity, a/c mass, Cl, thickness ratio, air density - - -def WingMass(ac_mass, b, q, Cl, Cm, tc): - safety_factor = 1.5 # aerospace standard - load_factor = 4.4 # FAA guideline - g = 9.81 # gravitational acceleration - - S = ac_mass*g/(Cl*q) # wing surface area - AR = b**2/S # aspect ratio - c = S/b # mean chord length - L = b/2 # Half wing span - - # Lifting loads - w = -ac_mass*g/b*safety_factor*load_factor - F = -ac_mass*g/2 # Lifting UAV by wingtips - - # Torsion moment from lift - M = Cm*q*S/2*c*safety_factor*load_factor - - # Carbon Fiber - E = 228*10**9 # Modulus of Elasticity - G = 10*10**9 # Shear Modulus - - # Carbon Tube Geo - print_thickness = 0.001 # 3D printed airfoil thickness - diameter = tc*c - 2*print_thickness # carbon tube diameter - diameter = np.floor(diameter*1000)/1000 # round down to nearest mm - thickness = 0.0025 # intial wall thickness - - # Reduce strut thickness to minimize weight - max_strain = float('NaN') - while True: - - # hard to find struts thinner than 5 mm - if diameter <= 0.005: - max_strain = float('NaN') - break - - temp = WingStrain(w, F, M, diameter, thickness, L, E, G) - - # initial test is beyond strain limit - if temp > 100.0 and np.isnan(max_strain): - break - # can still remove material - elif temp <= 100.0 and thickness > 0.001: - thickness = thickness-0.0005 - max_strain = temp - # wall thickess less than or equal to 1.0 mm - elif thickness <= 0.001: - break - elif temp > 100.0 and max_strain <= 100: - thickness = thickness+0.0005 - break - else: - print('Wing Calculation else statement') - break - - if np.isnan(max_strain): - mass = float('NaN') - AR = float('NaN') - S = float('NaN') - max_strain = float('NaN') - - # 3D printed airfoil calculations - volume = b*np.pi/4*(diameter**2 - (diameter-2*thickness)**2) - density = 1750 # kg/m^3 - mass = density*volume - mass = mass + S*2.320 # mass from 3D printed airfoil - - return mass, AR, S, max_strain, thickness diff --git a/__pycache__/AeroDrag.cpython-38.pyc b/__pycache__/AeroDrag.cpython-38.pyc deleted file mode 100644 index df34c8b..0000000 Binary files a/__pycache__/AeroDrag.cpython-38.pyc and /dev/null differ diff --git a/__pycache__/Hover.cpython-38.pyc b/__pycache__/Hover.cpython-38.pyc deleted file mode 100644 index ad93f4b..0000000 Binary files a/__pycache__/Hover.cpython-38.pyc and /dev/null differ diff --git a/__pycache__/ReadInputs.cpython-38.pyc b/__pycache__/ReadInputs.cpython-38.pyc deleted file mode 100644 index b217528..0000000 Binary files a/__pycache__/ReadInputs.cpython-38.pyc and /dev/null differ diff --git a/__pycache__/Structures.cpython-38.pyc b/__pycache__/Structures.cpython-38.pyc deleted file mode 100644 index f8a3b79..0000000 Binary files a/__pycache__/Structures.cpython-38.pyc and /dev/null differ diff --git a/__pycache__/UAVdesign.cpython-38.pyc b/__pycache__/UAVdesign.cpython-38.pyc deleted file mode 100644 index f3ce3ee..0000000 Binary files a/__pycache__/UAVdesign.cpython-38.pyc and /dev/null differ diff --git a/__pycache__/WingCalculations.cpython-38.pyc b/__pycache__/WingCalculations.cpython-38.pyc deleted file mode 100644 index 1b0e62d..0000000 Binary files a/__pycache__/WingCalculations.cpython-38.pyc and /dev/null differ diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..548d14a --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,93 @@ +[project] +name = "uav_design" +version = "0.1.0" +description = "Generative design tool for the initial design phase of a tiltrotor UAV." +authors = [{ name = "Tsmorz", email = "tonysmoragiewicz@gmail.com" }] +readme = "README.md" +requires-python = ">=3.12,<4.0" +dependencies = [ + "numpy>=2.2,<3", + "matplotlib>=3.10,<4", + "scipy>=1.16,<2", + "loguru>=0.7.2,<0.8", +] + +[dependency-groups] +dev = [ + "pytest>=8.3.3,<9", + "pytest-cov>=6.0.0,<7", + "pre-commit>=4.0.0,<5", + "ruff==0.9.10", + "mypy==1.15.0", +] + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.hatch.build.targets.wheel] +packages = ["uav_design"] + +[tool.ruff] +line-length = 88 +fix = true +lint.select = [ + "E", + "F", + "W", + "C90", + "I", + "N", + "D", + "UP", + "B", + "S", + "YTT", + "Q", + "PL", + "RUF", + "T20", + "F841", +] +lint.ignore = [ + "D203", + "D213", + "E501", + "N803", + "N806", + "D415", + "S101", + "E203", + "E731", + "D107", + "PLR2004", + "PLR0912", + "PLR0913", + "PLR0915", + "C901", + "S607", + "S605", + "S603", + "T201", +] + +[tool.lint.isort] +known-first-party = ["uav_design"] +combine-as-imports = true + +[tool.lint.pydocstyle] +convention = "google" + +[tool.ruff.format] +quote-style = "double" +indent-style = "space" +line-ending = "lf" + +[tool.pytest.ini_options] +testpaths = ["tests"] + +[tool.mypy] +ignore_missing_imports = true + +[project.urls] +homepage = "https://github.com/Tsmorz/UAV-Code" diff --git a/tests/__init__.py b/tests/__init__.py new file mode 100644 index 0000000..72fa6c9 --- /dev/null +++ b/tests/__init__.py @@ -0,0 +1 @@ +"""Test suite for the uav_design package.""" diff --git a/tests/structures_test.py b/tests/structures_test.py new file mode 100644 index 0000000..67722c2 --- /dev/null +++ b/tests/structures_test.py @@ -0,0 +1,20 @@ +"""Smoke tests for the structural helper functions.""" + +import numpy as np + +from uav_design.structures import moment_of_area, polar_moment + + +def test_moment_of_area_matches_hollow_cylinder_formula(): + """moment_of_area matches the closed-form hollow-cylinder result.""" + diameter, thickness = 0.02, 0.002 + radius_out = diameter / 2 + radius_in = (diameter - 2 * thickness) / 2 + expected = np.pi / 4 * (radius_out**4 - radius_in**4) + assert moment_of_area(diameter, thickness) == expected + + +def test_polar_moment_is_twice_the_area_moment(): + """For a thin hollow cylinder, J = Ix + Iy = 2 * I.""" + diameter, thickness = 0.02, 0.002 + assert polar_moment(diameter, thickness) == 2 * moment_of_area(diameter, thickness) diff --git a/uav_design/__init__.py b/uav_design/__init__.py new file mode 100644 index 0000000..86ada5a --- /dev/null +++ b/uav_design/__init__.py @@ -0,0 +1 @@ +"""Generative design tools for the initial design phase of a tiltrotor UAV.""" diff --git a/uav_design/__main__.py b/uav_design/__main__.py new file mode 100644 index 0000000..e2e3291 --- /dev/null +++ b/uav_design/__main__.py @@ -0,0 +1,204 @@ +"""Generative design sweep for a tiltrotor UAV; run with ``python -m uav_design``.""" + +import matplotlib.pyplot as plt +import numpy as np + +from uav_design.aero_drag import total_drag +from uav_design.hover import energy_take_off, hover_power +from uav_design.read_inputs import read_inputs +from uav_design.wing_calculations import wing_mass + +# Tony Smoragiewicz +# August 2021 +# VTOL drone design optimization + +inputs_file = "inputs.csv" +inputs = read_inputs(inputs_file) # Read inputs from csv file +mass = inputs[0] # Aircraft total mass +mass = min(mass, 24.95) +overall_span = inputs[1] # tip to tip of propellors +useable_span = 0.9 * overall_span # a/c body is 10% of span +vel = np.arange(15, 45.1, 0.25) # meters/s +# wing_span = np.arange(0.5*useable_span, 2*useable_span, 0.01) # meters +wing_span = np.arange(0.5 * useable_span, 0.9 * useable_span, 0.01) # meters +num_props = 2 +lift_margin = 1.2 # required lift reserve (load factor) at cruise before stall + +# Airfoils Parameters +Cl_max = inputs[2] / 0.95 # Lift coefficient - max +Cl = inputs[3] / 0.95 # Lift coefficient - cruise +Cd0 = inputs[4] # Drag coefficient - cruise +Cm = inputs[5] # Moment coefficient - maximum +tc = inputs[6] # thickness ratio (thickness/chord) + +########################################################################## +### --- DON'T EDIT BELOW THIS LINE --- ################################### +########################################################################## + +# Atmospheric Conditions +p = 101 * 10**3 # pressure +C = 25 # temp in Celius +R = 287.058 # gas constant J/kg/K +T = 273 + C # temp in Kelvin +rho = p / (R * T) # air density +q = 1 / 2 * rho * vel**2 # dynamic pressure +g = 9.81 + +wing_masses = np.zeros((len(wing_span), len(q))) +wing_ar = np.zeros((len(wing_span), len(q))) +wing_area = np.zeros((len(wing_span), len(q))) +wing_strain = np.zeros((len(wing_span), len(q))) +wing_t = np.zeros((len(wing_span), len(q))) + +# Calculate wing parameters +print("Calculating structure...") +for i in range(len(wing_span)): + for j in range(len(q)): + m, AR, S, strain, thickness = wing_mass(mass, wing_span[i], q[j], Cl, Cm, tc) + wing_masses[i][j] = m + wing_ar[i][j] = AR + wing_area[i][j] = S + wing_strain[i][j] = strain + wing_t[i][j] = thickness + +wing_masses = wing_masses.T +wing_ar = wing_ar.T +wing_area = wing_area.T +wing_strain = wing_strain.T +wing_t = wing_t.T + +wing_span, q = np.meshgrid(wing_span, q) +vel = np.sqrt(2 * q / rho) +prop_diameter = useable_span - wing_span + +# Calculate aero drag parameters +print("Calculating drag...") +print() +power_drag = np.zeros(wing_masses.shape) +power_hover = np.zeros(wing_masses.shape) +hover_whr = np.zeros(wing_masses.shape) +r, c = power_drag.shape +for i in range(r): + for j in range(c): + total = total_drag(wing_area[i][j], wing_span[i][j], Cl, Cd0, vel[i][j], rho) + power_drag[i][j] = vel[i][j] * total + power_hover[i][j] = hover_power(mass, prop_diameter[i][j], num_props) + hover_whr[i][j] = energy_take_off(power_hover[i][j], wing_area[i][j], rho) + +# Battery parameters +batt_mass = 0.35 * mass - wing_masses +batt_whr = 120 * batt_mass +batt_cost = batt_whr / 1.56 +batt_whr = batt_whr - hover_whr + +# Max hover time +hover_time = batt_whr / power_hover * 60 # hover time in minutes + +# Flight Range +duration = batt_whr / power_drag * 60 * 60 # flight time in seconds +distance = vel / 1000 * duration +idx = np.isnan(wing_strain) +distance[idx] = float("NaN") +hover_time[idx] = float("NaN") + +# Feasibility: require a lift (load-factor) margin, not a speed margin. Lift grows +# with v**2 while a speed margin grows linearly, so the meaningful reserve is how +# much more lift the wing can make at Cl_max than the weight it must carry. The +# available/required lift ratio equals Cl_max / Cl_cruise for a cruise-sized wing. +weight = mass * g +max_lift = 0.5 * rho * vel**2 * wing_area * Cl_max +load_factor = max_lift / weight # available lift / weight (>= 1 to fly) +infeasible = load_factor < lift_margin +distance[infeasible] = float("NaN") +hover_time[infeasible] = float("NaN") +if np.all(np.isnan(distance)): + raise SystemExit( + f"No feasible design in the search space: no candidate meets the " + f"{lift_margin:g}x lift margin (Cl_max / Cl_cruise = {Cl_max / Cl:.2f}). " + f"Lower Cl_cruise, raise Cl_max, or widen the grid." + ) + +max_distance = np.nanmax(distance) +max_distance99 = np.where(distance >= 0.98 * (max_distance)) + +km_per_whr = distance / batt_whr +km_per_kwhr = km_per_whr * 1000 +dollar_per_kwhr = 0.21 # euro per kwh +km_per_dollar = km_per_kwhr / dollar_per_kwhr +max_km_per_dollar = np.nanmax(km_per_dollar) + +# Final Outputs +ind = np.unravel_index(np.nanargmax(distance, axis=None), distance.shape) +max_hover_ind = np.unravel_index(np.nanargmax(hover_time, axis=None), distance.shape) +AR = wing_ar[ind] +S = wing_area[ind] +b = wing_span[ind] +c = S / b +prop_diam = prop_diameter[ind] +spar = np.floor(1000 * (c * tc - 2 * 0.001)) / 1000 +thickness = wing_t[ind] +cruise = vel[ind] +stall = np.sqrt(2 * mass * g / (rho * S * Cl_max)) +kwhr = batt_whr[ind] / 1000 + +########################################################################## +### --- Write A/C details to terminal --- ################################ +########################################################################## +data = [ + ["Flight radius:", round(max_distance / 2, 2), "km"], + ["Hover time:", round(hover_time[ind], 1), "min"], + ["Total Mass:", round(mass, 3), "kg"], + ["Total Width:", round(overall_span, 2), "m"], + ["Aspect Ratio:", round(AR, 1), ""], + ["Wing Area:", round(S, 3), "m2"], + ["Wing Span:", round(b, 3), "m"], + ["Chord:", round(c, 3), "m"], + ["Spar:", 1000 * spar, "mm"], + ["Thickness:", thickness * 1000, "mm"], + ["Prop Diameter:", round(prop_diam, 3), "m"], + ["Span to Prop Ratio:", round(b / prop_diam, 2), ""], + ["Air density:", round(rho, 3), "kg/m3"], + ["Cruise Velocity:", round(cruise, 2), "m/s"], + ["Stall Velocity:", round(stall, 2), "m/s"], + ["Lift Margin:", round(Cl_max / Cl, 2), "g"], + ["Battery size:", round(kwhr, 3), "kwhr"], +] + +dash = "-" * 40 +print("Tiltrotor Details:") +print(dash) + +for i in range(len(data)): + print(f"{data[i][0]:<23s}{data[i][1]:^6.2f}{data[i][2]:<10s}") + +########################################################################## +### --- Plot Data --- #################################################### +########################################################################## + +# Flight Radius +plt.subplot(121) +levels = max_distance / 2 * np.array([0.2, 0.4, 0.6, 0.8, 0.9, 0.95, 0.99, 1.05]) +CS = plt.contour(wing_span, vel, distance / 2, levels) +plt.clabel(CS, inline=True, fontsize=10) +plt.plot(wing_span[ind], vel[ind], "ro") +CS = plt.contour(wing_span, vel, prop_diameter, 5) +plt.clabel(CS, inline=True, fontsize=10) +plt.title("Flight Radius (km)") +plt.xlabel("Wingspan (m)") +plt.ylabel("Vel (m/s)") + +# Hover Time +plt.subplot(122) +levels = hover_time[max_hover_ind] * np.array( + [0.2, 0.4, 0.6, 0.8, 0.9, 0.95, 0.99, 1.05] +) +CS = plt.contour(wing_span, vel, hover_time, levels) +plt.clabel(CS, inline=True, fontsize=10) +plt.plot(wing_span[max_hover_ind], vel[max_hover_ind], "ro") +CS = plt.contour(wing_span, vel, prop_diameter / b, 5) +plt.clabel(CS, inline=True, fontsize=10) +plt.title("Max Hover Time (min)") +plt.xlabel("Wingspan (m)") +plt.ylabel("Vel (m/s)") + +plt.show() diff --git a/uav_design/aero_drag.py b/uav_design/aero_drag.py new file mode 100644 index 0000000..7ca8fba --- /dev/null +++ b/uav_design/aero_drag.py @@ -0,0 +1,62 @@ +"""Aerodynamic drag: induced, parasitic (skin friction), and form drag.""" + +import numpy as np + +# Tony Smoragiewicz +# August 2021 +# VTOL drone design optimization + +# Drag components from induced, parasitic, and form drag + + +def total_drag(S, b, Cl, Cd0, vel, rho): + """Total drag: the sum of induced, parasitic, and body drag.""" + q = 0.5 * rho * vel**2 + gamma = 1 + + drag_body = q * 0.2 * 0.02 + drag_ind = induced_drag(S, b, Cl, Cd0, gamma, vel, rho) + drag_para = parasitic_drag(S, b, vel, rho) + drag = drag_ind + drag_para + drag_body + return drag + + +# Drag from skin friction + + +def parasitic_drag(S, b, vel, rho): + """Skin-friction (parasitic) drag over the wing surface.""" + q = 0.5 * rho * vel**2 # dynamic pressure + mu = 1.75 * 10**-5 # dynamic viscosity + c = S / b # chord length + Re = rho * vel * c / mu + Re_x = 2 * 10**6 # Reynolds number for transition + if Re < Re_x: + Cf = 1.328 / np.sqrt(Re) # Laminar + else: + Cf = 0.027 / (Re ** (1 / 7)) # Turbulent + + # multiply by 2 for top and bottom of wing surface + drag = 2 * q * np.mean(Cf) * S + return drag + + +# Lift induced drag + + +def induced_drag(S, b, Cl, Cd0, gamma, vel, rho): + """Lift-induced drag from the finite-wing efficiency factor.""" + q = 0.5 * rho * vel**2 # dynamic pressure + AR = b**2 / S + # fourth order polynomial fit to emperical data + fxn = ( + 0.0524 * gamma**4 + - 0.15 * gamma**3 + + 0.1659 * gamma**2 + - 0.0706 * gamma + + 0.0119 + ) + e = 1 / (1 + fxn * AR) + Cd_ind = Cd0 + Cl**2 / (np.pi * AR * e) + drag = q * Cd_ind * S + return drag diff --git a/uav_design/airfoil.py b/uav_design/airfoil.py new file mode 100644 index 0000000..efaf0a4 --- /dev/null +++ b/uav_design/airfoil.py @@ -0,0 +1,36 @@ +"""Standalone NACA-style airfoil profile generator and plot.""" + +import matplotlib.pyplot as plt +import numpy as np + + +def airfoil(c, t, a, b): + """Upper/lower surface coordinates for a cambered airfoil of chord ``c``.""" + steps = 100 + x = np.linspace(0, c, steps) + T = ( + t + / 0.2 + * ( + 0.2969 * np.sqrt(x) + - 0.1260 * x + - 0.3516 * x**2 + + 0.2843 * x**3 + - 0.1015 * x**4 + ) + ) + Z = a * ((b - 1) * x**3 - b * x**2 + x) + Z_upper = Z + 0.5 * T + Z_lower = Z - 0.5 * T + return Z_upper, Z_lower, x + + +c = 1 +t = 0.12 +a = 0.1 +b = 0.1 + +Z_upper, Z_lower, x = airfoil(c, t, a, b) +plt.plot(x, Z_upper) +plt.plot(x, Z_lower) +plt.show() diff --git a/uav_design/hover.py b/uav_design/hover.py new file mode 100644 index 0000000..ff7ec09 --- /dev/null +++ b/uav_design/hover.py @@ -0,0 +1,37 @@ +"""Hover power (disk loading) and take-off/landing energy requirements.""" + +import numpy as np + +# power required to hover in watts + + +def hover_power(mass, diameter, num_of_props): + """Power required to hover, in watts, from an empirical disk-loading fit.""" + disk_loading = [36.62, 2929.45] + hovering_eff = [6.080, 0.608] + curve = np.polyfit(np.log(disk_loading), hovering_eff, 1) + + area = num_of_props * np.pi * diameter**2 / 4 + prop_load = mass / area + kg_kW = curve[0] * np.log(prop_load) + curve[1] + power = mass / kg_kW * 1000 # convert to watts + return power + + +def energy_take_off(power_hover, wing_area, rho): + """Watt-hours to ascend to and descend from cruise altitude.""" + ascent = 4 # m/s + descent = 3 + alt = 120 # meters + Cd = 1.1 # flat plate + # power drag from fuselage & wing + power_climb = 0.5 * rho * Cd * (1.2 * wing_area) * ascent**3 + + time_hr = alt / ascent / 60 / 60 + whr_ascent = 2 * time_hr * (power_hover + power_climb) + + time_hr = alt / descent / 60 / 60 + whr_descent = 2 * time_hr * power_hover + + whr = whr_ascent + whr_descent + return whr diff --git a/uav_design/read_inputs.py b/uav_design/read_inputs.py new file mode 100644 index 0000000..ce43a74 --- /dev/null +++ b/uav_design/read_inputs.py @@ -0,0 +1,17 @@ +"""Read the aircraft design constraints from a CSV file.""" + +from csv import reader + +import numpy as np + + +def read_inputs(path): + """Parse the constraint values from the second column of ``path``.""" + constraints = [] + with open(path, newline="") as csvfile: + filereader = reader(csvfile, delimiter=",", quotechar="|") + for row in filereader: + constraints = np.hstack([constraints, row[1]]) + constraints = constraints[1:] + constraints = constraints.astype(float) + return constraints diff --git a/uav_design/structures.py b/uav_design/structures.py new file mode 100644 index 0000000..257866b --- /dev/null +++ b/uav_design/structures.py @@ -0,0 +1,76 @@ +"""Euler beam theory helpers: moments of area, beam loads, and strains.""" + +import matplotlib.pyplot as plt +import numpy as np + +# Tony Smoragiewicz +# August 2021 +# VTOL drone design optimization + + +def moment_of_area(diameter, thickness): + """Second moment of area for a hollow cylinder.""" + radius_out = diameter / 2 + radius_in = (diameter - 2 * thickness) / 2 + Iz = np.pi / 4 * (radius_out**4 - radius_in**4) + return Iz + + +def polar_moment(diameter, thickness): + """Polar moment of area for a hollow cylinder.""" + J = np.pi / 32 * (diameter**4 - (diameter - 2 * thickness) ** 4) + return J + + +def point_load(F, L, E, area_moment): + """Max moment from a point load at the wing tips.""" + x: np.ndarray = np.arange(0.0, L, 0.1) + moment = -F * (L - x) + return max(moment) + + +def uniform_load(w, L, E, area_moment, plot: bool = False): + """Max moment from a uniform distributed load.""" + x: np.ndarray = np.arange(0.0, L, 0.01) + delta = -w * x**2 / (24 * E * area_moment) * (6 * L**2 - 4 * L * x + x**2) + moment = -w * (L - x) ** 2 / 2 + if plot: + plt.plot(x, delta, "k-") + plt.plot(-x, delta, "k-") + plt.xlabel("Span") + plt.ylabel("Deflection") + plt.axis("equal") + plt.show() + return max(moment) + + +def triangle_load(p, L, E, area_moment): + """Max moment from a triangular distributed load.""" + x: np.ndarray = np.arange(0.0, L, 0.01) + moment = -p / (6 * L) * (L - x) ** 3 + return max(moment) + + +def distributed_torsion(M, L, J, G): + """Twist angle from distributed torsion.""" + Mx = M / L + x: np.ndarray = np.arange(0.0, L, 0.01) + phi = Mx * x / (J * G) + phi_deg = 180 / np.pi * phi + return phi_deg + + +def torsion_strain(M, J, diameter, G): + """Maximum torsion strain.""" + r = diameter / 2 + tau = M * r / J + gamma = tau / G + return gamma + + +def bending_strain(M, E, Ic, diameter): + """Maximum bending strain.""" + c = diameter / 2 + sigma = M * c / Ic # stress + epsilon = sigma / E # strain + return epsilon diff --git a/uav_design/wing_calculations.py b/uav_design/wing_calculations.py new file mode 100644 index 0000000..aee35ff --- /dev/null +++ b/uav_design/wing_calculations.py @@ -0,0 +1,110 @@ +"""Iterative wing-mass minimization against the structural strain limit.""" + +import numpy as np + +from uav_design.structures import ( + bending_strain, + moment_of_area, + point_load, + polar_moment, + torsion_strain, + uniform_load, +) + +# Tony Smoragiewicz +# August 2021 +# VTOL drone design optimization + +# Reduce wall thickness until strain limit + + +def wing_strain(w, F, M, diameter, thickness, L, E, G): + """Total bending + torsion strain as a percentage of the strain limit.""" + area_moment = moment_of_area(diameter, thickness) + J = polar_moment(diameter, thickness) + + # Lifting by wingtips + point_load(F, L, E, area_moment) + # FAA Limit + moment = uniform_load(w, L, E, area_moment) + + # Maximum strains from bending and torsion + strain_torsion = torsion_strain(M, J, diameter, G) + strain_bending = bending_strain(moment, E, area_moment, diameter) + strain_total = np.sqrt(strain_bending**2 + strain_torsion**2) + max_strain_percentage = strain_total / 0.015 * 100 + return max_strain_percentage + + +# Minimize wing mass given: +# span, velocity, a/c mass, Cl, thickness ratio, air density + + +def wing_mass(ac_mass, b, q, Cl, Cm, tc): + """Calculate the wing mass.""" + safety_factor = 1.5 # aerospace standard + load_factor = 4.4 # FAA guideline + g = 9.81 # gravitational acceleration + + span = ac_mass * g / (Cl * q) # wing surface area + aspect_ratio = b**2 / span # aspect ratio + c = span / b # mean chord length + L = b / 2 # Half wing span + + # Lifting loads + w = -ac_mass * g / b * safety_factor * load_factor + F = -ac_mass * g / 2 # Lifting UAV by wingtips + + # Torsion moment from lift + M = Cm * q * span / 2 * c * safety_factor * load_factor + + # Carbon Fiber + E = 228 * 10**9 # Modulus of Elasticity + G = 10 * 10**9 # Shear Modulus + + # Carbon Tube Geo + print_thickness = 0.001 # 3D printed airfoil thickness + diameter = tc * c - 2 * print_thickness # carbon tube diameter + diameter = np.floor(diameter * 1000) / 1000 # round down to nearest mm + thickness = 0.0025 # intial wall thickness + + # Reduce strut thickness to minimize weight + max_strain = float("NaN") + while True: + # hard to find struts thinner than 5 mm + if diameter <= 0.005: + max_strain = float("NaN") + break + + temp = wing_strain(w, F, M, diameter, thickness, L, E, G) + + # initial test is beyond strain limit + if temp > 100.0 and np.isnan(max_strain): + break + # can still remove material + elif temp <= 100.0 and thickness > 0.001: + thickness = thickness - 0.0005 + max_strain = temp + # wall thickess less than or equal to 1.0 mm + elif thickness <= 0.001: + break + elif temp > 100.0 and max_strain <= 100: + thickness = thickness + 0.0005 + break + else: + print("Wing Calculation else statement") + break + + if np.isnan(max_strain): + mass = float("NaN") + aspect_ratio = float("NaN") + span = float("NaN") + max_strain = float("NaN") + + # 3D printed airfoil calculations + volume = b * np.pi / 4 * (diameter**2 - (diameter - 2 * thickness) ** 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