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NASA NTRS1995

Helmet-Mounted Display Research Capabilities of the NASA/Army Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL)

The Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) is a UH-60A Black Hawk helicopter that is being modified by the US Army and NASA for flight systems research. The principal systems that are being installed in the aircraft are a Helmet Mounted Display (HMD) and imaging system, and a programmable full authority Research Flight Control System (RFCS). In addition, comprehensive instrumentation of both the rigid body of the helicopter and the rotor system is provided. The paper will describe the capabilities of these systems and their current state of development. A brief description of initial research applications is included. The wide (40 X 60 degree) field-of-view HMD system has been provided by Kaiser Electronics. It can be configured as a monochromatic system for use in bright daylight conditions, a two color system for darker ambients, or a full color system for use in night viewing conditions. Color imagery is achieved using field sequential video and a mechanical color wheel. In addition to the color symbology, high resolution computer-gene rated imagery from an onboard Silicon Graphics Reality Engine Onyx processor is available for research in virtual reality applications. This synthetic imagery can also be merged with real world video from a variety of imaging systems that can be installed easily on the front of the helicopter. These sensors include infrared or tv cameras, or potentially small millimeter wave radars. The Research Flight Control System is being developed for the aircraft by a team of contractors led by Boeing Helicopters. It consists of a full authority high bandwidth fly-by-wire actuators that drive the main rotor swashplate actuators and the tail rotor actuator in parallel. This arrangement allows the basic mechanical flight control system of the Black Hawk to be retained so that the safety pilot can monitor the operation of the system through the action of his own controls. The evaluation pilot will signal the fly-by-wire actuators through the flight computer from electrical sidearm controllers located in the right hand cockpit. The system will have very substantial input/output capacity and impressive computational power. These systems are installed in the aircraft using predominantly a MIL-STD 1553B data bus architecture. Sensor data from the RFCS, the basic aircraft and rotor system instrumentation including navigation information, and the HMD system are easily exchanged among user systems, or are available at the systems operator station located in the cabin for real time monitoring or data recording.

Jacobsen, R. A.↗
NASA NTRS1995

An Advanced Fly-By-Wire Flight Control System for the RASCAL Research Rotorcraft: Concept to Reality

Design features of a new fly-by-wire flight control system for the Rotorcraft-Aircrew Systems Concepts Airborne Laboratory (RASCAL) are described. Using a UH-60A Black Hawk helicopter as a baseline vehicle, the RASCAL will be a flying laboratory capable of supporting the research requirements of major NASA and Army guidance, control, and display research programs. The paper describes the research facility requirements of these pro-rams and the design implementation of the research flight control system (RFCS), with emphasis on safety-of-flight, adaptability to multiple requirements and performance considerations.

Rediess, Nicholas A.↗
NASA NTRS1996

Overset Grid Methods for Multidisciplinary Applications in Rotorcraft Problems

A methodology for the coupling of an advanced computational fluid dynamics method based on an overset grid flow-solver and an advanced computational structural dynamics method based on a finite element analysis is presented. Various procedures for the fluid-structure interactions modeling along with their limitations are also discussed. The flight test data for the four-bladed UH-60A Blackhawk helicopter rotor is chosen for the validation of the results. Convergence and accuracy are tested by numerical experiments with a single-bladed rotor. A comparison of airload predictions with flight test data as well as with a rigid blade case is presented. Grid and interpolation related issues for this aeroelastic application are described.

Ahmad, J. U.↗
NASA NTRS2002

Piloted Simulator Investigation of Techniques to Achieve Attitude Command Response with Limited Authority Servos

The purpose of the study was to develop generic design principles for obtaining attitude command response in moderate to aggressive maneuvers without increasing SCAS series servo authority from the existing +/- 10%. In particular, to develop a scheme that would work on the UH-60 helicopter so that it can be considered for incorporation in future upgrades. The basic math model was a UH-60A version of GENHEL. The simulation facility was the NASA-Ames Vertical Motion Simulator (VMS). Evaluation tasks were Hover, Acceleration-Deceleration, and Sidestep, as defined in ADS-33D-PRF for Degraded Visual Environment (DVE). The DVE was adjusted to provide a Usable Cue Environment (UCE) equal to two. The basic concept investigated was the extent to which the limited attitude command authority achievable by the series servo could be supplemented by a 10%/sec trim servo. The architecture used provided angular rate feedback to only the series servo, shared the attitude feedback between the series and trim servos, and when the series servo approached saturation the attitude feedback was slowly phased out. Results show that modest use of the trim servo does improve pilot ratings, especially in and around hover. This improvement can be achieved with little degradation in response predictability during moderately aggressive maneuvers.

Key, David L.↗
NASA NTRS2003

Calculation of Rotor Performance and Loads Under Stalled Conditions

Rotor behavior in stalled conditions is investigated using wind tunnel test data of a l/l0-scale CH-47B/C type rotor, which provides a set of test conditions extending from unstalled to light stall to some deep stall conditions over a wide range of advance ratios. The rotor performance measured in the wind tunnel is similar to the main rotor performance measured during the NASA/Army UH-60A Airloads Program, although the two rotors are quite different. The analysis CAMRAD II has been used to predict the rotor performance and loads. Full-scale airfoil test data are corrected for Reynolds number effects for comparison with the model-scale rotor test. The calculated power coefficient shows good correlation with the measurements below stall with the Reynolds number-corrected airfoil table. Various dynamic stall models are used in the calculations. The Boeing model shows the lift augmentation at low advance ratios and the Leishman-Beddoes model shows better correlation of torsion moment than the other models at mu = 0.2. However, the dynamic stall models, in general, show only a small influence on the rotor power and torsion moment predictions especially at higher advance ratios.

Yeo, Hyeonsoo↗
NASA NTRS2003

Piloted Evaluation of Modernized Limited Authority Control Laws in the NASA-Ames Vertical Motion Simulator (VMS)

The UH-60 BLACK HAWK was designed in the 1970s, when the US Army primarily operated during the day in good visual conditions. Subsequently, the introduction of night-vision goggles increased the BLACK HAWK'S mission effectiveness, but the accident rate also increased. The increased accident rate is strongly tied to increased pilot workload as a result of a degradation in visual cues. Over twenty years of research in helicopter flight control and handling qualities has shown that these degraded handling qualities can be recovered by modifying the response type of the helicopter in low speed flight. Sikorsky Aircraft Corporation initiated a project under the National Rotorcraft Technology Center (NRTC) to develop modern flight control laws while utilizing the existing partial authority Stability Augmentation System (SAS) of the BLACK HAWK. This effort resulted in a set of Modernized Control Laws (MCLAWS) that incorporate rate command and attitude command response types. Sikorsky and the US Army Aeroflightdynamics Directorate (AFDD) conducted a piloted simulation on the NASA-Ames Vertical h4otion Simulator, to assess potential handling qualities and to reduce the risk of subsequent implementation and flight test of these modern control laws on AFDD's EH-60L helicopter. The simulation showed that Attitude Command Attitude Hold control laws in pitch and roll improve handling qualities in the low speed flight regime. These improvements are consistent across a range of mission task elements and for both good and degraded visual environments. The MCLAWS perform better than the baseline UH-60A control laws in the presence of wind and turbulence. Finally, while the improved handling qualities in the pitch and roll axis allow the pilot to pay more attention to the vertical axis and hence altitude performance also improves, it is clear from pilot comments and altitude excursions that the addition of an Altitude Hold function would further reduce workload and improve overall handling qualities of the aircraft.

Sahasrabudhe, Vineet↗
NASA NTRS2003

Aerodynamic Characteristics of SC1095 and SC1094 R8 Airfoils

Two airfoils are used on the main rotor blade of the UH-60A helicopter, the SC1095 and the SC1094 R8. Measurements of the section lift, drag, and pitching moment have been obtained in ten wind tunnel tests for the SC1095 airfoil, and in five of these tests, measurements have also been obtained for the SC1094 R8. The ten wind tunnel tests are characterized and described in the present study. A number of fundamental parameters measured in these tests are compared and an assessment is made of the adequacy of the test data for use in look-up tables required by lifting-line calculation methods.

Bousman, William G.↗
NASA NTRS2004

Evaluation of CFD to Determine Two-Dimensional Airfoil Characteristics for Rotorcraft Applications

The efficient prediction of helicopter rotor performance, vibratory loads, and aeroelastic properties still relies heavily on the use of comprehensive analysis codes by the rotorcraft industry. These comprehensive codes utilize look-up tables to provide two-dimensional aerodynamic characteristics. Typically these tables are comprised of a combination of wind tunnel data, empirical data and numerical analyses. The potential to rely more heavily on numerical computations based on Computational Fluid Dynamics (CFD) simulations has become more of a reality with the advent of faster computers and more sophisticated physical models. The ability of five different CFD codes applied independently to predict the lift, drag and pitching moments of rotor airfoils is examined for the SC1095 airfoil, which is utilized in the UH-60A main rotor. Extensive comparisons with the results of ten wind tunnel tests are performed. These CFD computations are found to be as good as experimental data in predicting many of the aerodynamic performance characteristics. Four turbulence models were examined (Baldwin-Lomax, Spalart-Allmaras, Menter SST, and k-omega).

Smith, Marilyn J.↗
NASA NTRS2007

Calculation of Hub Loads at Low Airspeeds with Active Control

The effect of individual blade control (IBC) on the full-scale, low airspeed, level flight UH-60A oscillatory fixed system 4P hub loads and the rotating system blade bending moments is studied. The effect of a single 3P IBC input has been considered in this analytical study. At the low speed under consideration, it has been found that convergence of the comprehensive analysis is important for obtaining good predictions. Good correlation has been obtained with the measured full-scale wind tunnel data for the shapes of the fixed system 4P hub loads variations with the 3P IBC input phase, and also for the "best" phase of the 3P input (for minimum hub loads). The blade bending moment comparison shows mixed results. The 3P lead lag and the 4P flap bending moment trends with the 3P IBC input phase are reasonably predicted, whereas the 5P lead lag bending moment trend is not predicted well. Finally, the prediction of the baseline (no IBC) bending moments needs further study.

Kottapalli, Sesi↗
NASA NTRS2010

Validations of Coupled CSD/CFD and Particle Vortex Transport Method for Rotorcraft Applications: Hover, Transition, and High Speed Flights

This paper presents validations of a novel rotorcraft analysis that coupled Computational Fluid Dynamics (CFD), Computational Structural Dynamics (CSD), and Particle Vortex Transport Method (PVTM) methodologies. The CSD with associated vehicle trim analysis is used to calculate blade deformations and trim parameters. The near body CFD analysis is employed to provide detailed near body flow field information which is used to obtain high-fidelity blade aerodynamic loadings. The far field wake dominated region is simulated using the PVTM analysis which provides accurate prediction of the evolution of the rotor wake released from the near body CFD domains. A loose coupling methodology between the CSD and CFD/PVTM modules are used with appropriate information exchange amongst the CSD/CFD/PVTM modules. The coupled CSD/CFD/PVTM methodology is used to simulate various rotorcraft flight conditions (i.e. hover, transition, and high speed flights), and the results are compared with several sets of experimental data. For the hover condition, the results are compared with hover data for the HART II rotor tested at DLR Institute of Flight Systems, Germany. For the forward flight conditions, the results are validated with the UH-60A flight test data.

Anusonti-Inthra, Phuriwat↗
NASA NTRS2010

Development and Operation of an Automatic Rotor Trim Control System for use During the UH-60 Individual Blade Control Wind Tunnel Test

A full-scale wind tunnel test to evaluate the effects of Individual Blade Control (IBC) on the performance, vibration, noise and loads of a UH-60A rotor was recently completed in the National Full-Scale Aerodynamics Complex (NFAC) 40- by 80-Foot Wind Tunnel [1]. A key component of this wind tunnel test was an automatic rotor trim control system that allowed the rotor trim state to be set more precisely, quickly and repeatably than was possible with the rotor operator setting the trim condition manually. The trim control system was also able to maintain the desired trim condition through changes in IBC actuation both in open- and closed-loop IBC modes, and through long-period transients in wind tunnel flow. This ability of the trim control system to automatically set and maintain a steady rotor trim enabled the effects of different IBC inputs to be compared at common trim conditions and to perform these tests quickly without requiring the rotor operator to re-trim the rotor. The trim control system described in this paper was developed specifically for use during the IBC wind tunnel test

Theodore, Colin R.↗
NASA NTRS2010

NDARC - NASA Design and Analysis of Rotorcraft Validation and Demonstration

Validation and demonstration results from the development of the conceptual design tool NDARC (NASA Design and Analysis of Rotorcraft) are presented. The principal tasks of NDARC are to design a rotorcraft to satisfy specified design conditions and missions, and then analyze the performance of the aircraft for a set of off-design missions and point operating conditions. The aircraft chosen as NDARC development test cases are the UH-60A single main-rotor and tail-rotor helicopter, the CH-47D tandem helicopter, the XH-59A coaxial lift-offset helicopter, and the XV-15 tiltrotor. These aircraft were selected because flight performance data, a weight statement, detailed geometry information, and a correlated comprehensive analysis model are available for each. Validation consists of developing the NDARC models for these aircraft by using geometry and weight information, airframe wind tunnel test data, engine decks, rotor performance tests, and comprehensive analysis results; and then comparing the NDARC results for aircraft and component performance with flight test data. Based on the calibrated models, the capability of the code to size rotorcraft is explored.

Johnson, Wayne↗
NASA NTRS2011

Overview of the Helios Version 2.0 Computational Platform for Rotorcraft Simulations

This article summarizes the capabilities and development of the Helios version 2.0, or Shasta, software for rotary wing simulations. Specific capabilities enabled by Shasta include off-body adaptive mesh refinement and the ability to handle multiple interacting rotorcraft components such as the fuselage, rotors, flaps and stores. In addition, a new run-mode to handle maneuvering flight has been added. Fundamental changes of the Helios interfaces have been introduced to streamline the integration of these capabilities. Various modifications have also been carried out in the underlying modules for near-body solution, off-body solution, domain connectivity, rotor fluid structure interface and comprehensive analysis to accommodate these interfaces and to enhance operational robustness and efficiency. Results are presented to demonstrate the mesh adaptation features of the software for the NACA0015 wing, TRAM rotor in hover and the UH-60A in forward flight.

Sankaran, Venkateswaran↗
NASA NTRS2011

CFD Based Computations of Flexible Helicopter Blades for Stability Analysis

As a collaborative effort among government aerospace research laboratories an advanced version of a widely used computational fluid dynamics code, OVERFLOW, was recently released. This latest version includes additions to model flexible rotating multiple blades. In this paper, the OVERFLOW code is applied to improve the accuracy of airload computations from the linear lifting line theory that uses displacements from beam model. Data transfers required at every revolution are managed through a Unix based script that runs jobs on large super-cluster computers. Results are demonstrated for the 4-bladed UH-60A helicopter. Deviations of computed data from flight data are evaluated. Fourier analysis post-processing that is suitable for aeroelastic stability computations are performed.

Guruswamy, Guru P.↗
NASA NTRS2012

Blade Displacement Measurement Technique Applied to a Full-Scale Rotor Test

Blade displacement measurements using multi-camera photogrammetry were acquired during the full-scale wind tunnel test of the UH-60A Airloads rotor, conducted in the National Full-Scale Aerodynamics Complex 40- by 80-Foot Wind Tunnel. The objectives were to measure the blade displacement and deformation of the four rotor blades as they rotated through the entire rotor azimuth. These measurements are expected to provide a unique dataset to aid in the development and validation of rotorcraft prediction techniques. They are used to resolve the blade shape and position, including pitch, flap, lag and elastic deformation. Photogrammetric data encompass advance ratios from 0.15 to slowed rotor simulations of 1.0, thrust coefficient to rotor solidity ratios from 0.01 to 0.13, and rotor shaft angles from -10.0 to 8.0 degrees. An overview of the blade displacement measurement methodology and system development, descriptions of image processing, uncertainty considerations, preliminary results covering static and moderate advance ratio test conditions and future considerations are presented. Comparisons of experimental and computational results for a moderate advance ratio forward flight condition show good trend agreements, but also indicate significant mean discrepancies in lag and elastic twist. Blade displacement pitch measurements agree well with both the wind tunnel commanded and measured values.

Abrego, Anita I.↗
NASA NTRS2013

Simulation System Fidelity Assessment at the Vertical Motion Simulator

Fidelity is a word that is often used but rarely understood when talking about groundbased simulation. Assessing the cueing fidelity of a ground based flight simulator requires a comparison to actual flight data either directly or indirectly. Two experiments were conducted at the Vertical Motion Simulator using the GenHel UH-60A Black Hawk helicopter math model that was directly compared to flight data. Prior to the experiment the simulator s motion and visual system frequency responses were measured, the aircraft math model was adjusted to account for the simulator motion system delays, and the motion system gains and washouts were tuned for the individual tasks. The tuned motion system fidelity was then assessed against the modified Sinacori criteria. The first experiments showed similar handling qualities ratings (HQRs) to actual flight for a bob-up and sidestep maneuvers. The second experiment showed equivalent HQRs between flight and simulation for the ADS33 slalom maneuver for the two pilot participants. The ADS33 vertical maneuver HQRs were mixed with one pilot rating the flight and simulation the same while the second pilot rated the simulation worse. In addition to recording HQRs on the second experiment, an experimental Simulation Fidelity Rating (SFR) scale developed by the University of Liverpool was tested for applicability to engineering simulators. A discussion of the SFR scale for use on the Vertical Motion Simulator is included in this paper.

Beard, Steven D.↗
NASA NTRS2015

Visualization and Quantification of Rotor Tip Vortices in Helicopter Flows

This paper presents an automated approach for effective extraction, visualization, and quantification of vortex core radii from the Navier-Stokes simulations of a UH-60A rotor in forward flight. We adopt a scaled Q-criterion to determine vortex regions and then perform vortex core profiling in these regions to calculate vortex core radii. This method provides an efficient way of visualizing and quantifying the blade tip vortices. Moreover, the vortices radii are displayed graphically in a plane.

Quantification↗
NASA NTRS2015

Visualization and Quantification of Rotor Tip Vortices in Helicopter Flows

Helicopter aeromechanics encompasses a highly vortical flow field. The vortices generated at each blade tip contain unsteady, complex, three-dimensional structures, which interact with each other, other blades, the fuselage and various components of the helicopter. It is crucial to understand vortex kinematics and their subsequent dynamic evolution. Much research has been devoted to the understanding of helicopter vortex dynamics, including a number of experimental studies.1-6 In May 2010 Particle Image Velocimetry (PIV) measurements of a full-scale UH-60A rotor were acquired in the National Full-Scale Aerodynamics Complex (NFAC) 40- by 80-Foot Wind Tunnel.1 These measurements were taken at a plane just downstream of the advancing blade in the vicinity of the blade tip—the so-called PIV plane. The resulting PIV data were then processed using an ensemble-average approach to create graphical representations of the vortical wake velocity and vorticity fields, which, in turn, have enhanced the understanding of rotorcraft vortical wake flow field physics and have provided a more detailed validation of vortical wake computer simulations.7 A common approach used to analyze flow field features is to compute and plot color contour maps of various scalar quantities such as pressure, velocity magnitude and vorticity magnitude. For example, the color map of the vorticity magnitude is typically used to determine vortical flow structure. With this approach the vortex core may appear larger or smaller, depending on the contour levels that are selected. Thus, the resulting visualization is sensitive to user-specified contour levels. For vortex core radius measurements, it is more accurate to calculate the vortex core radius using the cross-flow velocity profile across the vortex core. The task of extracting the cross-flow velocity profile can be time consuming with existing tools since the user needs to manually select the core center then specify sampling points along the profile axis. The task becomes even more challenging when the associated grid system uses AMR (Adaptive Mesh Refinement) where the profile axis could span multiple grid blocks. There are a number of existing techniques for profiling of vortex core attributes;8-9 however, these techniques are not fully automatic in that the user still needs to select the vortex core center to compute the cross-flow velocity profile. The present study introduces a new color map scheme that is based on the vortex core radius, which is fully automatic and does not require user intervention. Analysis and visualization of blade tip vortices on the PIV plane using the proposed new color map scheme are described in Section II. The new approach is evaluated using two case studies, which are described in Section III. The paper ends with a summary in Section IV.

Quantification↗