10-Blade Flapping Equation of Rigid Body Motion-V01

Bladeflappingequationofrigid
body motion
DrAfshin Manouchehrifar
DrAfshinManouchehrifar
Bladeflappingequationofmotion
The blade is assumed to be a rigid body freely hinged at the hub.
- The flap hinge offset.
- The flap spring stiffness.
Taking moments about the flapping hinge

M o = I && M A + M CF + M SS = I &&
I && = e R dL (r e f R ) e R dCF (r e f R ) k
R R
144244
f
3 144 f
42444 3 M{ Spring
M A Aerodynamic Moment M CF Centrifugal stiffness Moment SS
stiffness Moment
small angle approximation of

Flapping inertia of the blade:
2 3 1
I = e R (r e f R ) mdr = e R r + e f R 2rer R mdr mR e f

R 2 R 2 2
{ 3

f f
=0
Flapping hinge offset e f 0.05
Centrifugal stiffness Moment:
e R
R
dCF
f
(r e f
R ) = e R
R
m
f
2
r (r e f
R ) dr = m 2
e R r (r e f R )dr
R
1 ef
= m R
2 3
3 2
Assembling the equation of motion gives Flapping Equation in Hover Or
Foreword Flight depending MA
1 && 1 ef
mR e f = M A m R k
3 2 3
3 3 2

&& + 2 k + 1 + 3e f = M A
2
I 2(1 3e f ) I
14444244443
2
If the rotor is Fully Articulated:
3e f 2 3
k = 0 = 1 +
2 2
1 + e f
2(1 3e f ) 2

2
3 3
= 1 + e f = 1.05 1.1 = = 1 + e f
2
2 2
If the rotor is Teetering or See-Saw:
k = 0
= = 1
e f = 0
If the rotor is Semi Rigid (Hingeless or Bearingless):
2 = + 2 1 + e f 2 = = 2 + 1 + 3 e f

2
k 3
I 2 2
0
for a stopped rotor =0

&& + k = M A =2
k k
= 2
2
I I 0
I I
0
Controlresponseinhoverfor
teeteringrotor
k = 0
A)
e f = 0 U P = &r + vi
U T = r
Aerodynamic force for teetering rotor in hover
1 1 1
dL = U T C L dA = (r ) a cdr = (R ) x 2 a( )cRdx
2 2 2
2 2 2
1 2
Up 1 2 2 &r vi
= (R ) x a cRdx = Vtip x a cRdx
2
2 UT 2 r r
teeteringrotor
Aerodynamic force flapping moment
1 2 1 3 & i
M A = 0 rdL = R 0 xdL = Vtip acR 0 x dx
R R 2
2 x
1 2 & 4
M A = Vtip acR i
2
8 3
Centrifugal force dCF = 2 rmdr

Centrifugal force flapping moment
M CF = 0 dCFr sin = 0 2 r 2 m dr = 2 m 0 r 2 dr = 2 I
R R R
1424 3
e f = 0 I
teeteringrotor
Assembling the equation of motion gives Flapping Equation in Hover
M
&& + = A = acR 4
1 2 & 4 2 & 4
2
i = i
I I 8 3 8 3
The aerodynamic moment produces both a damping moment and a forcing
function.
Lock number of the blade:
acR 4 Aerodynamic Forces 8

= = For a helicopter rotor
I Inertial Forces
The importance of the Lock number lies in the fact that it is the factor which
connects the aerodynamic forces and the dynamic behavior of the rotor blades.
teeteringrotor
& d d d dt &
= dt

=
d
=
dt d
=
= t
d
=
dt
&& = d
&
= d 2
d 2
dt 2
&&
= 2 = 2
dt d 2
dt d 2

Substituting Flapping Equation in Hover
4 4
&& + & + = i + + = i
2 2
8 8 3 8 8 3
The input collective and cyclic which defines the blade pitch angle by No twist
= 0 A1 cos B1 sin or = 0 + 1c cos + 1s sin
blade flapping motion
= a0 a1 cos b1 sin or = 0 + 1c cos + 1s sin

teeteringrotor
a0 is the constant blade flapping angle known as the coning angle
a1 is the rearward tilt of the rotor disc plane
b1 is the lateral tilt, advancing side down.
Longitudinal Flapping
Lateral Flapping
teeteringrotor
= a1 sin b1 cos = a1 cos + b1 sin
Substituting Flapping Equation in Hover
4
(a1 sin b1 cos ) + a0 = 0 A1 cos B1 sin i
8 8 3
4
a0 = 0 i a1 = B1 b1 = A1
8 3
The coning angle is dependent on the Lock number, collective pitch and rotor
downwash.
= a0 a1 cos b1 sin = a0 + A1 cos + B1 sin

2 2
flapping response lags the blade pitch (aerodynamic) inputs by 90
Coningangle
Flapping Equation for teetering hub
M o = I && M A + M CF = I &&
M
& 4
&& + =
2 A
= i
2
I 8 3
We can fined coning angle by equilibrium between aerodynamic force and
centrifugal force in static case:
&& = & = 0 M = 0 M A + M CF = 0
M A 2 4 MA 4
2 = = i 0 = a0 = =
0 i
I 8 3 I 8
2
3
Blade Lift
0 = a0 =
Blade centrifugal force
teeteringrotor
The azimuth angles for maximum flapping are given by
b1
Teeter hinge b1 a1
= a1 sin b1 cos = 0 tag F = 1
a1 Fully Articulate b1 a1
The azimuth angles for maximum cyclic pitch are given by
3
B1
= A1 sin B1 cos = 0 tag C =
A1
The phase delay of the flapping behind the cyclic pitch is b1 B1

tg F tg C a1 A1
F = F C tgF = tg ( F C ) = =
1 + tg F tg C 1 + b1 B1
a1 A1
a1 = B1
tg = + = F = C +
b1 = A1 2 2
F F
semirigidrotor
k 0
B)
e f 0

&& + 2 k + 1 + 3e f = M A
2
14I 4
2(1 3e f ) I
424443

Aerodynamic force

1
dL = Vtip2 x 2 a

& (r e f
R ) v
i cRdx
2 r r
{
=0
1 & (x e f )
= Vtip x a
2 2
cRdx

2 x
semirigidrotor
Aerodynamic force flapping moment
1 & (x e f )
M A = 0 (r e f R )dL = R 0 (x e f R ) Vtip x a cRdx
R R 2 2
2
x
1 & (x e )

= Vtip2 acR 2 e x 2 (x e f R ) dx
1 f
2
x
f
MA 2 1
1 e f & 1 2
= + e f
I 2 4 3 4 3
semirigidrotor
Assembling the equation of motion gives Flapping Equation in Hover
M 1 1 e
& 1 2
&& + =
2 A
= + e f
2 f

I 2 4 3 4 3
& = && = 2
8 4
+ 1 e f + 2 = 1 e f
8 3 8 3
If the rotor is Teetering or See-Saw:
e f = 0 1
= 2 = =
=8
= 8 16 2
then flapping motion stable and well damped
semirigidrotor
8 4
+ 1 e f + = 1 e f
2

8 3 8 3
Substituting
= 0 A1 cos B1 sin
No twist
= a0 a1 cos b1 sin
= a1 sin b1 cos
= a1 cos + b1 sin
semirigidrotor
4
a0 = 2
1 e f 0
8 3
4 8
1
1 e f (1 )
2
1 e f A
a
=
8 3 8 3 1
b 2 B
1 (1 2 )2 + 1 8 e 1 8 e ( )
2
1 2 1
f

64 3 8 3
f
phase delay of the flapping

b1 B1
8
1 e f
F =
a1 A1
= 3
1+
b1 B1 8 (2

1)
a1 A1
Effectofflappinghingeoffsetonflapping
frequencyandphasedelayinhover
ImplementationOfTheDelta3(3)Hinge
I II Flap Geometry
- More common with teetering
Blade Blade design
- Introduces pitch-lead coupling

via coriolis effect
Actuator
PitchBearing
- Not for twin/tandem as it may
cause rotor on rotor oscillations
+3 FlapHinge +3 FlapHinge
Actuator Placement
Hub Hub - More common with articulated
design

- Pitch-flap coupling affected by
UsingFlap collective
UsingActuator
Geometry Placement
- Most common type of 3
implementation in multi-rotor
helicopters
ExamplesOfDelta3(3)
+3
+3
CH-47 Main Rotor AH-64 Tail Rotor

- Fully Articulated - Teetering Design
- Flap-Feather-Lag - Rotor Hub IS Flapping Hinge
- Small, Positive 3 - Large, Positive 3 45
Effectof3 hingeonflappingfrequency
As the flapping angle is small, then the change of pitch angle will vary linearly
with flapping angle
= k
If the blade flaps up by an amount , with the pitch horn-track rod connection
point remaining fixed, the pitch angle will be reduced by an angle
= tg 3
i.e. the pitch angle reduce

tg 3 =

Substituting in the Flapping Equation in Hover for
k = 0 4
+ + = ( tg 3 ) i

e f = 0 8 8 3
4
+ + 1 + tg 3 = i
8 8 8 3
Substituting
= 0 A1 cos B1 sin
No twist
= a0 a1 cos b1 sin
Coning angle for Teetering Coning angle for Teetering

rotor with 3 hinge rotor without 3 hinge
0 i
< 0 i
4 4
a0 =
3
a0 =
3
8 + tg 3 8
Natural frequency for Natural frequency for
Teetering rotor Teetering rotor
with 3 hinge without 3 hinge

= 1 + tg 3
8 > =
Effects Of Delta-3
- Acts like a spring on flapping hinge
- Increases flapping frequency
- Positive Delta-3 corresponds to flap-up pitch-down
- Effect becomes more significant with larger blades
Flappingequationsinforwardflight
the following assumptions are made for this analysis
(a) The blade is rigid.
(b) The flap hinge offset is zero.
(c) Terms of order O(2) can be neglected.
(d) Constant lift curve slope (a=dCL/d).
&
=

U P = Vtip ( ZD + x + x cos )
U T = r + V cos sin = Vtip ( x + x sin )
2 x x
2 2
U T ( x + x sin ) =x + + 2 x x sin cos 2

2 2
2 2
If forward flight situation is examined without application of cyclic pitch control,
the aerodynamic forces are approximately proportional to the square of the
velocity at the blade
2 x x
2 2
(x + sin )
2
= x + + 2 x x sin cos 2
2 2
x
i.e. a first harmonic change in velocity, when squared imposes a constant forcing
plus a first and second harmonic disturbance. So forward flight will require additional
terms in the flapping motion expression to restore balance to the solution.
= a0 a1 cos b1 sin a2 cos 2 b2 sin 2

b1 a1 a2 0.1a1 b2 0.1b1
The extension to second harmonic flapping behaviour can, in theory, be extended

to higher harmonics allowing more general flapping motion to be defined.
forsemirigidrotor
= 0 A1 cos B1 sin = a0 a1 cos b1 sin
UP = a1 sin b1 cos
= =
UT = a1 cos + b1 sin

&& + 2 k + 1 + 3e f = M A
2
14I 4
2(1 3e f ) I
424443

1 11 UP 2
M A = 0 r dL = 0 Rx U tip a cRdx = 0 U tip a cR xdx
R 1 2 2
2 2 UT
1
= caR 0 ( xU tip2 xU TU P )dx
2 1
2
Substituting UP and UT
MA
+ 2 = = (I1 I 2 )
I 2
2
1 1 ZD b1 A1 x
I1 I 2 = 0 x B1 + a0 cos
4 3 3 4 3
2 a1 + B1 x x
+ x 0 sin + (a1 + B1 )cos 2 + (b1 A1 )sin 2
3 4 3 3
Substituting , ,
+ 2 = 2 a0 + a1 (1 2 )cos + b1 (1 2 )sin
Equating coefficients of 1, cos and sin gives the following set of 3 equations
The unknowns in the equations include a0, a1, b1 and downwash i. The
downwash value depends on the rotor thrust which is itself dependent on the
collective 0 and cyclic pitch A1 and B1 angles.
In order to make the set of equations consistent, the link between the downwash
i and the rotor control angles 0 , A1 and B1 must be accounted for, hence the
thrust equation must be included in the set of equations.
11 11
T=
N 2
0 d 0 cR U 2
a dx =
N 2
0 d 0 caR ( U 2
U TU P )dx
2 2 2 2
tip tip
1 0 1 1
= Vtip aNcR x B1 zD
2
2 3 2 2
or in coefficient form
CT 1 0 1 1
= x B1 zD
a 3 2 2
The final assembly of the three flapping equations and the thrust equation gives
the following matrix equation
There are two types of problem to be solved

1. Given CT / a, a1, b1 , i (from CT ); solve for a0, 0, A1, B1. In this case, the
rotor disc attitude and thrust is known and the analysis enables the rotor
control angles and coning angle to be determined. This is the easier solution
as the disc attitude and rotor thrust are known, requiring the downwash
iteration to be performed once only.
2. Given 0, A1, B1; solve for a0, CT / a, a1, b1, i. In this case, the rotor control
angles are specified, and the analysis fixes the resulting rotor thrust and disc
attitude. The CT vs i (downwash) iteration has to be performed more than once,
since the disc attitude, and hence x and z, are unknown. Values of rotor thrust
have to be assumed allowing the iteration to take place. The results of the rotor
thrust and downwash calculations must be checked to ensure that they match
the rotor pitch inputs and the blade behaviour calculated. This procedure must
continue until all the rotor parameters, both input and calculated results must
match. The non-linear link between x and z, CT and i means that the solution
must be achieved via an iterative scheme

10-Blade Flapping Equation of Rigid Body Motion-V01

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10-Blade Flapping Equation of Rigid Body Motion-V01

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Bladeflappingequationofrigid

Taking moments about the flapping hinge

small angle approximation of

Flapping hinge offset e f 0.05

Centrifugal stiffness Moment:

for a stopped rotor =0

Centrifugal force dCF = 2 rmdr

Lock number of the blade:

acR 4 Aerodynamic Forces 8

= a0 a1 cos b1 sin or = 0 + 1c cos + 1s sin

= a0 a1 cos b1 sin = a0 + A1 cos + B1 sin

phase delay of the flapping

- Introduces pitch-lead coupling

CH-47 Main Rotor AH-64 Tail Rotor

Coning angle for Teetering Coning angle for Teetering

U T = r + V cos sin = Vtip ( x + x sin )

U T ( x + x sin ) =x + + 2 x x sin cos 2

= a0 a1 cos b1 sin a2 cos 2 b2 sin 2

The extension to second harmonic flapping behaviour can, in theory, be extended

There are two types of problem to be solved

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