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Advisor(s)
Abstract(s)
As alterações climáticas aumentaram o número e intensidade de incêndios florestais, sendo
uma fonte devastadora de recursos humanos e ambientais. O uso de aeronaves não tripuladas de asa fixa poderá ser uma mais valia no combate, especialmente se combinadas com
projéteis extintores. O objetivo deste trabalho foi estudar e desenvolver um sistema de transporte para este projétil extintor e implementálo numa aeronave não tripulada de asa fixa, de
forma a estudar a sua trajetória, comparando com trajetórias criadas por um algoritmo existente desenvolvido para este projétil. Assim foi idealizado um sistema tipo garra, compatível
com o projétil em questão, tendo sido construído utilizando impressão 3D e utilizando servomotores como mecanismo atuador. De forma a incorporar este sistema foi também estudado
e desenvolvido um trem de aterragem mais compatível. A análise estrutral do trem de aterragem foi realizada recorrendo a métodos de elementos finitos para a estrutura em CFRP,
analisando e prevendo a falha de alguma camada do laminado para as condições de fronteira
impostas. As diferentes partes laminadas do trem foram construídas camada a camada com
fibras de carbono, de vidro e resina epóxi e recorreuse à técnica de saco de vácuo para a sua
cura. Após a construção e montagem do trem de aterragem e sistema de transporte, estes foram acoplados à aeronave escolhida para realizar os ensaios de voo e lançamentos do projétil.
Os ensaios foram realizados na pista do Aero Clube da Covilhã e as trajetórias foram gravadas
por uma câmara perpendicular à pista. Após a recolha de imagem das trajetórias, estas foram estudadas utilizando um software de tratamento de vídeo, onde foram marcadas várias
posições do projétil ao longo do tempo, bem como a altura inicial e o alcance atingido. Foram
medidos outros parâmetros nomeadamente a velocidade do projétil ao longo da trajetória e a
atitude da aeronave no momento do lançamento. As condições atmosféricas foram retiradas
de uma página web. Estes dados foram implementados no algoritmo, criando uma trajetória
numérica para comparação com a obtida nos ensaios. As primeiras trajetórias obtidas não
eram concordantes com os ensaios e por isso procedeuse ao tratamentos do erro e incerteza
das medições efetuadas para estimar a sua influência. Após este tratamento e correção dos
parâmetros dados ao algoritmo, foi possível atingir resultados concordantes com os ensaios
o que possibilita concluir que o algoritmo prevê com eficácia as trajetórias deste projétil, dadas as condições iniciais. O sistema de transporte não apresentou problemas nos ensaios,
não aplicando qualquer momento ou rotação ao projétil no momento de largada. O trem de
aterragem suportou todas as cargas impostas, não apresentando falhas ou deformações.
Climate change increased the number and intensity of wildfires, this being a devastating source of human and environmental resources. The use of unmanned fixedwing aircraft can be an asset in combat, especially if combined with fire extinguisher projectiles. The objective of this work was to study the development of a transport system for this extinguishing projectile and implement it in an unmanned fixedwing aircraft, in order to study its trajectory, comparing it with trajectories created by an existing algorithm developed for this projectile. Thus, a clawtype system was idealized, compatible with the projectile in question, built using 3D printing and using servomotors as an actuator mechanism. In order to incorporate this system, a more compatible landing gear has also been studied and developed. The landing gear structural analysis was carried out using finite element methods for the CFRP structure, analyzing and predicting failure of layers in the laminate for the imposed boundary conditions. The different laminated parts of the landing gear were built layer by layer with carbon fiber, glass and epoxy resin and the vacuum bag technique was used as a cure process. After the construction and assembly of the landing gear and transport system, these were attached to the chosen aircraft to carry out the flight tests and projectile launches. The tests were carried out on the Aero Clube da Covilhã runway and the trajectories were recorded by a camera perpendicular to the runway. After collecting the images of the trajectories, they were studied using video processing software, where various positions of the projectile were marked over time, as well as the initial height and range reached. Other parameters were measured, namely the velocity of the projectile along the trajectory and the attitude of the aircraft at the moment of launch. Weather conditions were taken from a webpage. These data were implemented in the algorithm, creating a numerical trajectory for comparison with the one obtained in the tests. The first trajectories obtained were not in agreement with the tests and, therefore, the error and uncertainty of the measurements performed were treated to estimate their influence. After this treatment and correction of the parameters given to the algorithm, it was possible to reach results in agreement with the tests, which allows us to conclude that the algorithm effectively predicts the trajectories of this projectile, given the initial conditions. The transport system did not present problems in the tests, not applying any moment or rotation to the projectile at launch. The landing gear supported all the imposed loads, showing no failures or deformations.
Climate change increased the number and intensity of wildfires, this being a devastating source of human and environmental resources. The use of unmanned fixedwing aircraft can be an asset in combat, especially if combined with fire extinguisher projectiles. The objective of this work was to study the development of a transport system for this extinguishing projectile and implement it in an unmanned fixedwing aircraft, in order to study its trajectory, comparing it with trajectories created by an existing algorithm developed for this projectile. Thus, a clawtype system was idealized, compatible with the projectile in question, built using 3D printing and using servomotors as an actuator mechanism. In order to incorporate this system, a more compatible landing gear has also been studied and developed. The landing gear structural analysis was carried out using finite element methods for the CFRP structure, analyzing and predicting failure of layers in the laminate for the imposed boundary conditions. The different laminated parts of the landing gear were built layer by layer with carbon fiber, glass and epoxy resin and the vacuum bag technique was used as a cure process. After the construction and assembly of the landing gear and transport system, these were attached to the chosen aircraft to carry out the flight tests and projectile launches. The tests were carried out on the Aero Clube da Covilhã runway and the trajectories were recorded by a camera perpendicular to the runway. After collecting the images of the trajectories, they were studied using video processing software, where various positions of the projectile were marked over time, as well as the initial height and range reached. Other parameters were measured, namely the velocity of the projectile along the trajectory and the attitude of the aircraft at the moment of launch. Weather conditions were taken from a webpage. These data were implemented in the algorithm, creating a numerical trajectory for comparison with the one obtained in the tests. The first trajectories obtained were not in agreement with the tests and, therefore, the error and uncertainty of the measurements performed were treated to estimate their influence. After this treatment and correction of the parameters given to the algorithm, it was possible to reach results in agreement with the tests, which allows us to conclude that the algorithm effectively predicts the trajectories of this projectile, given the initial conditions. The transport system did not present problems in the tests, not applying any moment or rotation to the projectile at launch. The landing gear supported all the imposed loads, showing no failures or deformations.
Description
Keywords
Cfrp Extintor Incêndios Mef Projétil SistemaTransporte Trajetória TremdeAterragem Uav