Aerodynamic characteristics of helicopter rotors; rotor contributions to helicopter stability parameters

Mode of access: Internet.

Summary of studies of helicopter rotor icing.

"Contract No. AF 33(616)-2859."

A method for predicting the aerodynamic loads and dynamic response of the rotor blades of a tandem-rotor helicopter.

"USAAVLABS technical report 67-38."

Investigation of helicopter rotor blade flutter and flapwise bending response in hovering

"Propulsion Laboratory, Contract no. AF33(616)-5210, Project no. 3137, Task no. 33113."

Development of a method for predicting the performance and stresses of VTOL-type propellers.

"USAAVLABS technical report 66-26"

Computed induced velocity, induced drag, and angle of attack distributions for a two-bladed rotor

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Non-linear dynamic analysis of rotors by finite element method

Non-linear natural vibration characteristics and the dynamic response of hingeless and fully articulated rotors of rectangular cross-section are studied by using the finite element method. In the formulation of response problems, the global variables are augmented with appropriate additional variables, facilitating direct determination of sub-harmonic response. Numerical results are given showing the effect of the geometric non-linearity on the first three natural frequencies. Response analysis of typical rotors indicates a possibility of substantial sub-harmonic response especially in the fully articulated rotors widely adopted in helicopters.

Towards dynamically-favourable quad-rotor aerial robots

This paper outlines progress towards realising practical quad-rotor robot helicopters and, in particular, the Australian National University’s ‘X-4 Flyer’ platform. Two challenges facing the X-4 are generating sufficient thrust and managing unstable dynamic behaviour. We address these issues with a rotor design technique for maximising thrust and the application of a novel rotor mast configuration. An aero-elastic blade design is described and its performance results are presented. A sprung teetering rotor hub that allows adjustment of the blade flapping characteristics and a quad-rotor dynamic model with blade flapping are introduced. The use of inverted rotors is shown to produce favorable stability properties for the Mark II X-4 Flyer.

A Tale of two helicopters

This paper discusses similarities and differences in autonomous helicopters developed at USC and CSIRO. The most significant differences are in the accuracy and sample rate of the sensor systems used for control. The USC vehicle, like a number of others, makes use of a sensor suite that costs an order of magnitude more than the vehicle. The CSIRO system, by contrast, utilizes low-cost inertial, magnetic, vision and GPS to achieve the same ends. We describe the architecture of both autonomous helicopters, discuss the design issues and present comparative results.

Design of a gust-attenuation controller for landing operations of Unmanned Autonomous Helicopters

This paper presents an innovative and practical approach to controlling heave motion in the presence of acute stochastic atmospheric disturbances during landing operations of an Unmanned Autonomous Helicopter (UAH). A heave motion model of an UAH is constructed for the purpose of capturing dynamic variations of thrust due to horizontal wind gusts. Additionally, through construction of an effective observer to estimate magnitudes of random gusts, a promising and feasible feedback-feedforward PD controller is developed, based on available measurements from onboard equipment. The controller dynamically and synchronously compensates for aerodynamic variations of heave motion resulting from gust influence, to increase the disturbance-attenuation ability of the UAH in a windy environment. Simulation results justify the reliability and efficiency of the suggested gust observer to estimate gust levels when applied to the heave motion model of a small unmanned helicopter, and verify suitability of the recommended control strategy to realistic environmental conditions.

Axially Loaded Timoshenko Rotors From A Prestressed Continuum Approach

We consider an axially loaded Timoshenko rotor rotating at a constant speed and derive its governing equations from a continuum viewpoint. The primary aim of this paper is to understand the source and role of gyroscopic terms, when the rotor is viewed not as a Timoshenko beam but as a genuine 3D continuum. We offer the primary insight that macroscopically observed gyroscopic terms may also, quite equivalently, be viewed as external manifestations of internally existing spin-induced prestresses at the continuum level. To demonstrate this idea with an analytical example (the Timoshenko rotor), we have studied the reliable equations of Choi et al. (Journal of Vibration and Acoustics, 114, 1992, 249-259). Using a straightforward application of our insight in the framework of nonlinear elasticity, we obtain equations that exactly match Choi et al. for the case with no axial load. For the case of axial preload, our straightforward formulation leads to a slightly different set of equations that have negligible numerical consequence for solid rotors. However, we offer a macroscopic, intuitive, justification for modifying our formulation so as to obtain the exact equations of Choi et al. with the axial load included.

Finite element analysis of rotors

A finite element formulation for the natural vibration analysis of tapered and pretwisted rotors has been presented. Numerical results for natural frequencies for various values of the geometric parameters and rotational speeds, have been computed for the case of rotors with and without pretwist. A Galerkin solution for the fundamental has also been worked out and has been used to provide a comparison for the finite element results. Charts for rapid estimation of the fundamental frequency parameter of tapered rotors, have been included.

Fractal boundaries of basin of attraction of Newton-Raphson method in helicopter trim

A key problem in helicopter aeroelastic analysis is the enormous computational time required for a numerical solution of the nonlinear system of algebraic equations required for trim, particularly when free wake models are used. Trim requires calculation of the main rotor and tail rotor controls and the vehicle attitude which leads to the six steady forces and moments about the helicopter center of gravity to be zero. An appropriate initial estimate of the trim state is needed for successful helicopter trim. This study aims to determine the control inputs that can have considerable effect on the convergence of trim solution in the aeroelastic analysis of helicopter rotors by investigating the basin of attraction of the nonlinear equations (set of initial guess points from which the nonlinear equations converge). It is illustrated that the three main rotor pitch controls of collective pitch, longitudinal cyclic pitch and lateral cyclic pitch have a significant contribution to the convergence of the trim solution. Trajectories of the Newton iterates are shown and some ideas for accelerating the convergence of a trim solution in the aeroelastic analysis of helicopters are proposed. It is found that the basins of attraction can have fractal boundaries. (C) 2010 Elsevier Ltd. All rights reserved.

Response, loads and stability of rotors with interconnected blades

An isolated rotor with blades interconnected through viscoelastic elements is analyzed for response, loads and stability in moment trim under forward flight conditions. A conceptual model of a multibladed rotor with rigid flap and lag motions is considered, Although the interconnecting elements are placed in the In-plane direction, considerable coupling between the flap-lag motions of the blades can occur in certain ranges of interblade element stiffness. Interblade coupling can yield significant changes in the response, loads and stability which are dependent on the interblade element and rotor parameters.