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The source of an appreciable pitching-moment difference between left and right hovering turns for a tandem helicopter is described. The difference in pitching moment results from the difference in rotational speed of the counter rotating rotors with respect to the air while the helicopter is turning.
A combination of analytic modeling and system identification methods have been used to develop an improved dynamic model describing the response of articulated rotor helicopters to control inputs. A high-order linearized model of coupled rotor/body dynamics including flap and lag degrees of freedom and inflow dynamics with literal coefficients is compared to flight test data from single rotor helicopters in the near hover trim condition. The identification problem was formulated using the maximum likelihood function in the time domain. The dynamic model with literal coefficients was used to generate the model states, and the model was parametrized in terms of physical constants of the aircraft rather than the stability derivatives, resulting in a significant reduction in the number of quantities to be identified. The likelihood function was optimized using the genetic algorithm approach. This method proved highly effective in producing an estimated model from flight test data which included coupled fuselage/rotor dynamics. Using this approach it has been shown that blade flexibility is a significant contributing factor to the discrepancies between theory and experiment shown in previous studies. Addition of flexible modes, properly incorporating the constraint due to the lag dampers, results in excellent agreement between flight test and theory, especially in the high frequency range.
This work is extending the research accomplished on project NCC2-751. A newly implemented helicopter model has been used to simulate 25 flight configurations near hover for the UH-60 RASCAL aircraft. A new engine model has been installed in the FORECAST simulation (alias UMGENHEL) for the better prediction of the yaw and heave responses. By applying the decoupling metric from project NCC 751 it was determined that the aileron to pitch and the elevator to yaw responses do not indicate the need for crossfeeds since both of them have a decoupling metric value over 20 dB (less than 10 percent coupling). In the case of the aileron to heave and the elevator to heave responses, the large size and the overlapping of the templates indicate that a low-order dynamic crossfeed cannot be found. The low-order dynamic crossfeed selection is proceeding, however, for the remaining eight crossfeeds. Note that most of them have successfully decoupled the system by 20 dB or more, except for the rudder to heave crossfeed (18.2 dB). It is probable that the engine model needs more accuracy to further improve the heave to yaw crossfeed decoupling metric value. To see how the new low-order dynamic crossfeeds perform, a simulation was accomplished using MATLAB SIMULINK.
Using a calibrated Rolls-Royce Pegasus engine and existing aircraft instrumentation and pressure taps, total and individual nozzle reaction control system (RCS) bleed flow rates have been measured on a YAV-8B Harrier during typical short takeoff, transition, hover, and vertical landing maneuvers. RCS thrust forces were calculated from RCS nozzle total pressure measurements, and control power was determined from the moments produced by these thrusts and the aircraft's moments of inertia. These data document the characteristics of the YAV-8B RCS with its basic stability augmentation system (SAS) engaged. Advanced control system designs for the YAV-8B can be compared to the original SAS based on the total bleed use and the percentage of available bleed used. In addition, the peak and mean values of the bleed and control power data can be used for sizing the reaction controls for a future short takeoff and vertical landing (STOVL) aircraft.
An aerodynamic model with a coupled set of generalized dynamic wake equations and hybrid equations of motion for an elastic blade are applied here to a two-blade untwisted stiff in-plane hingeless small-scale model rotor with torsionally soft blades. Blade root offset, precone, blade droop, pitch control stiffness, and blade pitch angle are included in the model rotor. Numerical results show that 3D tip relief effects within the nonuniform steady-state inflow are significant to predict steady-state aerodynamic loads and blade deflections. Eigenvalue results confirm the importance of unsteady 3D aerodynamics in predicting lead-lag damping and frequency. Eigenvector analysis correlations reinforced qualitative and quantitative shortcomings associated with quasi-steady 2D aerodynamic theory for aeroelastic applications in hover.
A piloted motion simulator evaluation, using the NASA Ames Vertical Motion Simulator, was conducted in support of a NASA Lewis Contractual study of the integration of flight and propulsion systems of a STOVL aircraft. Objectives of the study were to validate the Design Methods for Integrated Control Systems (DMICS) concept, to evaluate the handling qualities, and to assess control power usage. The E-7D ejector-augmentor STOVL fighter design served as the basis for the simulation. Handling-qualities ratings were obtained during precision hover and shipboard landing tasks. Handling-qualities ratings for these tasks ranged from satisfactory to adequate. Further improvement of the design process to fully validate the DMICS concept appears to be warranted.
The dynamic fidelity of an operational blade-element simulation model of the UH-60A helicopter is assessed for the hovering and low-speed flight regimes. Nonparametric frequency-response identification techniques and time-history comparisons are used to determine the validity of vehicle responses. Frequency-domain methods are applied to the model to isolate deficiencies and verify refinements and corrections. A dedicated flight-test program was conducted to provide data used in the analyses. Model deficiencies are also identified by using side-by-side pilot assessments of a motion-based simulation and of a test aircraft. Model refinements are found to improve fidelity significantly in the frequency range of interest to handling-qualities research. The applicability of the model to high-bandwidth flight-control research is also discussed.
A free-wake Navier-Stokes numerical scheme and multiple Chimera overset grids have been utilized for calculating the quasi-steady hovering flowfield of a Boeing-360 rotor mounted on an axisymmetric whirl-tower. The entire geometry of this rotor-body configuration is gridded-up with eleven different overset grids. The composite grid has 1.3 million grid points for the entire flow domain. The numerical results, obtained using coarse grids and a rigid rotor assumption, show a thrust value that is within 5% of the experimental value at a flow condition of M(sub tip) = 0.63, Theta(sub c) = 8 deg, and Re = 2.5 x 10(exp 6). The numerical method thus demonstrates the feasibility of using a multi-block scheme for calculating the flowfields of complex configurations consisting of rotating and non-rotating components.
A study of the noise from a small-scale, semi-span test of a hovering tilt rotor is presented. The effect on noise of the tilt rotor fountain and of several tilt rotor configuration changes is examined. Measurments were made of an isolated rotor; rotor and wing; rotor and image plane; and rotor, wing and image plane. This last configuration models a tilt rotor. With a tilt rotor, the wing turns some of the rotor downwash inboard. When the flows meet, some of the flow is forced upward creating a fountain. Some of the fountain is ingested into the rotor disc. Rotor fountain interactions produce very unsteady impulsive noise to the rear of the aircraft. Configuration changes to investigate download reduction included increasing the rotor/wing separation, deflecting the flap, adding the nacelle, adding vortex trapping plates and blowing on the upper surface. These configuration changes produced little or no effect on the noise, although they changed the net download. Increasing the wing span, however, reduced the annoying content of this impulse noise about 2dB.
An experimental investigation of rotor/wing aerodynamic interactions in hover is described. The investigation consisted of both a large-scale and a small-scale test. A 0.658-scale V-22 rotor and wing was used in the large-scale test. Wing download, wing surface pressure, rotor performance, and rotor downwash data from the large-scale test are presented. A small-scale experiment was conducted to determine how changes in the rotor/wing geometry affected the aerodynamic interactions. These geometry variations included the distance between the rotor and wing, wing incidence angle, wing flap angle, rotor rotation direction, and configurations both with the rotor axis at the tip of the wing (tilt rotor configuration) and with the rotor axis at the center of the wing (compound helicopter configuration).
Prediction of lag damping is difficult owing to the delicate balance of drag, induced drag and Coriolis forces in the in-plane direction. Moreover, induced drag is sensitive to dynamic wake, both shed and trailing components, and thus its prediction requires adequate unsteady-wake representation. Accordingly, rigid-blade flap-lag equations are coupled with a three-dimensional finite-state wake model; three isolated rotor configurations with three, four and five blades are treated over a range of thrust levels, Lock numbers, lag frequencies and advance ratios. The investigation includes convergence characteristics of damping with respect to the number of radial shape functions and harmonics of the wake model for multiblade modes of low frequency (less than 1/rev.) to high frequency (greater than 1/rev.). Predicted flap and lag damping levels are then compared with similar predictions with (1) rigid wake (no unsteady induced flow, (2) Loewy lift defficiency and (3) dynamic inflow. The coverage also includes correlations with the measured lag regressive-mode damping in hover and forward flight and comparisons with similar correlations with dynamic wake model are consistently higher than the predictions with the dynamic inflow model; even for the low frequency lag regressive mode, the number of wake harmonics should at least be equal to twice the number of blades.
Fixed-wing code development is now aimed primarily at the solution of problems dominated by separation--based on the assumptions that the ability to solve such problems implies the ability to solve all other problems and that present inviscid method are already adequate for most other problems. Neither of the above assumptions are correct for rotary wing problems. This is because of the unique and overriding importance of wake modeling to rotor problems and also due to the well-known numerical diffusion problems which convectional Eulerian Computational fluid dynamics (CFD) method encounter when called on to convect strong vortical regions for long distances. The need for accurate wake analyses is probably the most fundamental difference between rotory and fixed-wing aerodynamics. In addition, rotary wing complexity requires a much more intimate relationship between test and analysis than is common in fixed-wing work. With these issues in mind, this paper will review some of our recent experience in using a unique-Eulerian-Lagrangian Computational fluid dynamics (CFC) method for the solution of a critical rotor-wake problem--the prediction of hover performance.
Primarily an experimental effort, this study focuses on the velocity and vorticity fields in the near wake of a hovering rotor. Drag terminology is reviewed, and the theory for separately determining the profile-and-induced-drag components from wake quantities is introduced. Instantaneous visualizations of the flow field are used to center the laser velocimeter (LV) measurements on the vortex core and to assess the extent of the positional mandering of the trailing vortex. Velocity profiles obtained at different rotor speeds and distances behind the rotor blade clearly indicate the position, size, and rate of movement of the wake sheet and the core of the trailing vortex. The results also show the distribution of vorticity along the wake sheet and within the trailing vortex.
A multi-input, multi-output controls design with dynamic crossfeed pre-compensation is presented for rotorcraft in near-hovering flight using Quantitative Feedback Theory (QFT). The resulting closed-loop control system bandwidth allows the rotorcraft to be considered for use as an inflight simulator. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets most handling qualities specifications relative to the decoupling of off-axis responses. Handling qualities are Level 1 for both low-gain tasks and high-gain tasks in the roll, pitch, and yaw axes except for the 10 deg/sec moderate-amplitude yaw command where the rotorcraft exhibits Level 2 handling qualities in the yaw axis caused by phase lag. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensators successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective. This is an area to be investigated in future research.
A small scale ground effect test rig was used to study the ground plane flow field generated by a STOVL aircraft in hover. The objective of the research was to support NASA-Ames Research Center planning for the Large Scale Powered Model (LSPM) test for the ARPA-sponsored ASTOVL program. Specifically, small scale oil flow visualization studies were conducted to make a relative assessment of the aerodynamic interference of a proposed strut configuration and a wall configuration on the ground plane stagnation line. A simplified flat plate model representative of a generic jet-powered STOVL aircraft was used to simulate the LSPM. Cold air jets were used to simulate both the lift fan and the twin rear engines. Nozzle Pressure Ratios were used that closely represented those used on the LSPM tests. The flow visualization data clearly identified a shift in the stagnation line location for both the strut and the wall configuration. Considering the experimental uncertainty, it was concluded that either the strut configuration o r the wall configuration caused only a minor aerodynamic interference.
Using a generalized simulation model, a moving-base simulation of a lift-fan short takeoff/vertical landing fighter aircraft has been conducted on the Vertical Motion Simulator at Ames Research Center. Objectives of the experiment were to determine the influence of system bandwidth and phase delay on flying qualities for translational rate command and vertical velocity command systems. Assessments were made for precision hover control and for landings aboard an LPH type amphibious assault ship in the presence of winds and rough seas. Results obtained define the boundaries between satisfactory and adequate flying qualities for these design features for longitudinal and lateral translational rate command and for vertical velocity command.
A technique to achieve output tracking for nonminimum phase linear systems with non-hyperbolic and near non-hyperbolic internal dynamics is presented. This approach integrates stable inversion techniques, that achieve exact-tracking, with approximation techniques, that modify the internal dynamics to achieve desirable performance. Such modification of the internal dynamics is used (1) to remove non-hyperbolicity which an obstruction to applying stable inversion techniques and (2) to reduce large pre-actuation time needed to apply stable inversion for near non-hyperbolic cases. The method is applied to an example helicopter hover control problem with near non-hyperbolic internal dynamic for illustrating the trade-off between exact tracking and reduction of pre-actuation time.
A lifting surface hover code developed by the Analytical Method Inc. (AMI) was used to compute the average and unsteady velocity flow field of an isolated rotor without ground effect. The predicted velocity field compares well with experimental data obtained by hot-wire anemometry and by Laser Doppler Velocimetry. A subroutine 'DOWNWASH' was written to predict the velocity field at any given point in the wake for a given blade position.