Design, Modeling, Simulation, and Flight Testing of a Custom-Built Tail-Sitter UAV

Abstract

This paper presents the design, manufacturing, and flight-testing of a low-cost autonomous dual motor tail-sitter UAV for the search and rescue of drowning victims. A systems engineering approach was used to meet certain design requirements. Trade studies were conducted for the selection of materials and hardware component. XFLR5 aerodynamic analysis software was used to iteratively design the wing planform, optimize center of gravity, and to assess static and dynamic stability. Simulations of the vehicle dynamics and control were performed using RealFlight 9.5, Mission Planner, and ArduPilot software. The simulation environment was used also to tune the controller gains for stabilization of unstable modes. Multiple vehicles were manufactured and two of them were used for flight testing. Simulations were found to be extremely useful and effective to train both the operator and the flight controller. Simulation and flight test results are shown.