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Calculating Moments of Inertia of Airplanes

I am working on the design of a Long Endurance Unmanned Aerial Vehicle. For this we initially tried to model an existing aircraft (which we directly purchased from the market) and design a control system. For modeling the aircraft, we need the exact C.G location and Moment of Inertia Values of the aircraft. Calculation of C.G The C.G Location of the aircraft is calculated
i.

ii.

By balancing the aircraft on the hands (crude way). By this way it is easy to calculate the C.G location along the x-axis (roll axis) but it is difficult to find the location along the Z-axis (assuming the aircraft is symmetric along y-axis). For calculating the C.G location along Z-axis, the aircraft should be hanged in a difilar-suspension. This procedure is discussed in difilar suspension for calculating Moment of Inertia. The other way is to hang the plane at two points two times such that in the first case the aircraft is pointing down at an angle (slight pitch down position not complete 90degrees down) and in the second, the aircraft is pointing up ( slight pitch up position not complete 90 degrees up) . In both cases along with the aircraft a lead weight is also hanged from the center of the axis (same axis used for hanging the aircraft). The length of the thread of the lead weight should be more than that used for the aircraft. Draw the projection of the thread of the lead weight on the aircraft. In both cases the

projections will be two lines. The point of intersection of the two lines gives the C.G location. This way we can get C.G location along x-axis, the C. Location about y-axis is also calculated in the same way but different orientation. This process can be used for any shapes (not only aircrafts) and it can be found in any physics text books. Calculating Moment of Inertia After calculating the C.G location of the aircraft the Moment of inertia is calculated about the C.G in two ways. i. ii. Bifilar Pendulum method. Compound pendulum method.

Bifilar pendulum method

In this method the airplane is hanged using two strings equidistant from the C.G and the Moment of inertia of the airplane about the axis passing through C.G can be obtained. Calculating Izz : For calculating Izz, the plane is hanged with two strings which are parallel to z-axis of the airplane and also equidistant from the z-axis. The x-y plane of the aircraft is horizontal with the ground. It should be ensured that the strings are vertical. Now the airplane is swinged in yawing motion (about z-axis) and the time taken for the oscillations to die out is noted. The magnitude of the

swing should be small as this procedure is only valid for very small angles. Calculating Iyy For calculating Iyy, the plane is hanged with two strings which are parallel to the y-axis and equidistant from the y-axis. Visually the plane is hanged such that one wing is up and the other down. The x-y plane of the aircraft is perpendicular to the ground. It should be ensured that the strings are vertical. Now the airplane is swinged in pitching motion ( about the y-axis) and the time taken for the oscillations to die out is noted. Calculating Ixx For calculating Ixx, the plane is hanged with two strings which are parallel to the x-axis and equidistant from the x-axis. Visually the plane is hanged such that nose is up and the tail down. The x-y plane of the aircraft is perpendicular to the ground. It should be ensured that the strings are vertical. Now the airplane is swinged in rolling motion ( about the x-axis) and the time taken for the oscillations to die out is noted. The time taken for one oscillation is calculated for each case and the moment of Inertia is calculated using the following formulae I = Where W=Weight of the vehicle T = Time taken for one oscillation A = The distance between the two strings (2*distance from c.g to one of the strings)

L = Length of the suspension Compound Pendulum method: In compound pendulum method a rectangular wooden frame is constructed and the UAV is hanged with the help of the frame. The moment of Inertia values for the frame with the UAV and for the frame alone should be computed to get the Inertia values of the UAV. Determining Ixx : The wooden frame is hanged as shown in the figure and the plane is mounted on the frame such that the x-axis of the UAV is parallel to the axis about which the frame is suspended. The airplane+frame combination is swinged about the axis of suspension and the time taken for 100 oscillations is noted down. The experiment is repeated 4 to 5 times and the average value for the 100 oscillations is calculated. Determining Iyy: The setup is similar to that used for calculating Ixx but here the plane is mounted such that the y-axis of the UAV is parallel to the axis about which the frame is suspended. The airplane+frame combination is swinged about the axis of suspension and the time taken for 100 oscillations is noted down. The experiment is repeated 4 to 5 times and the average value for the 100 oscillations is calculated. Now the UAV is removed from the frame and the Moment of inertia of the frame only is calculated. The frame is swinged about the axis used for suspending the frame and the time taken for 100 oscillations is noted down.The experiment is

repeated for 4 to 5 times and the average value for 100 oscillations is calculated. Calculating Ixx,Iyy

I=

W1= Weight of the UAV+frame T1= Time taken for one oscillation for UAV+frame combination L1 = Distance from suspended axis to the C.G of the UAV+frame combination W2= Weight of the frame T2= Time taken for one oscillation for frame only L2 = Distance from suspended axis to the C.G of the frame only W3=Weight of the UAV only L3 = Distance from suspended axis to the C.G of the UAV. g=Acceleration due to gravity

L1 =
Determining Izz: For determining Izz the suspension of the wooden frame is as shown in the figure. The UAV is mounted on the frame and oscillated about the z-axis of the UAV. The time taken for 100 oscillations is noted down. The experiment is repeated 4 to 5 times and the average value for the 100 oscillations is calculated. The same procedure is repeated for the frame only and the time period is noted down.

Calculating Izz:

Izz = 

- 

W1=Weight of the UAV+frame T1= Time taken for one oscillation for the UAv+frame combination W2= Weight of the frame T2=Time taken for one oscillation for the frame Ixx: UAV+Frame combination S.No 1 2 3 4 Average Frame only S.No 1 2 3 4 Average Time for 10 oscillations 28.44 28.26 28.07 28.69 Time for 50 oscillations 141.33 141.30 141.17 140.99 Time for 100 oscillations 281.94 279.77 281.78 282.10 281.3975 Time for 10 oscillations 28.86 28.76 28.80 28.58 Time for 50 oscillations 142.36 142.61 142.04 142.13 Time for 100 oscillations 281.23 284.48 284.23 284.46 283.6

Iyy : UAV+Frame combination S.No 1 2 3 4 Average Izz: UAv+Frame combination S.No 1 2 3 4 Average Frame only S.No 1 2 3 Time for 10 oscillations 20.80 20.61 20.56 Time for 50 oscillations 104.13 103.59 103.82 Time for 90 oscillations 187.14 186.65 187.05 Time for 10 oscillations 18.76 18.54 18.55 18.36 Time for 50 oscillations 94.35 94.74 94.23 94.07 94.3475 Time for 90 oscillations 169.61 167.61 169.49 168.51 Time for 10 oscillations 28.48 28.50 28.55 28.35 Time for 50 oscillations 141.94 141.91 142.32 142.14 Time for 100 oscillations 284.09 284.66 284.28 284.21 284.31

4 Average Calculating Ixx,Iyy Ixx: W1= 1940 gms T1= 2.836 sec L1 = 196 cm W2= 1360 gms T2= 2.814 sec L2 = 195.3 cm W3=1360gms L3 = 196.3 cm g=9.81 Ixx=1302.54 Kgm2 Iyy : W1= 1940 gms T1= 2.8431 sec L1 = 196.7 cm W2= 1360 gms T2= 2.814 sec L2 = 195.3 cm W3=1360gms L3 = 197.3 cm g=9.81 Ixx=1458.74 Kgm2 Calculating Izz:

20.49

103.61

187.10 186.985

W1=1980 gms T1= 1.88695 sec W2=620 gms T2= 2.0776 Izz=2331.84 Kgm2

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