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ISBN 978-84-15914-12-9 2015 Comit Espaol de Automtica de la IFAC (CEA-IFAC)
473
Abstract
In this work, different modelling aspects of helicopter
aerodynamics are discussed. The helicopter model is
on Sikorsky configuration, main rotor in
perpendicular combination with a tail rotor. The
rotors are articulated and their blades are rigid. The
main rotor implementation takes into account flap,
lag and feather degrees of freedom for each of the
equispaced blades as well as their dynamic
couplings. The model was built by using VehicleSim,
software specialized in modelling mechanical
systems composed by rigid bodies. Appearing
vibrations due to the rotating behaviour of the rotors
are studied in here. This work presents an
aerodynamic model that allows to simulate hover
flight. The aerodynamic model has been built up
using blade element theory. The aerodynamic load
creates vibrations on the helicopter and these are
analyzed on the fuselage by using short time Fourier
transform processing to study the vibrations
spectrum. The results of the simulations are
presented and compared to existing mechanical
vibrations generated by a dynamic model developed
by the authors as well as existing theory in the
specialist literature.
Keywords: Vibrations,
aerodynamics.
helicopter,
dynamics,
1 INTRODUCTION
Helicopter vibration is common a problem which
involves complex interactions between the inertial,
structural loads and aerodynamic loads. The major
source of vibrations in helicopters is the main rotor,
whereas in fixed-wing aircraft, the vibrations are
mostly originated by the engines or are caused by
atmospheric turbulences. In aircraft's design,
vibrations have remained one of the major problems
affecting helicopter development for years. In fact,
the maximum speed and manoeuvring capabilities for
most of the modern helicopters are limited by
2 DYNAMIC MODEL
The helicopter under study is on Sikorsky
configuration i.e., main rotor in perpendicular
combination with a tail rotor. Both systems are
mounted on the fuselage. The helicopter model
consists of fuselage, main rotor and tail rotor, both
articulated. The main rotor consists of four equally
spaced blades joined to a central hub and the tail
rotor consists of two equally spaced blades joined to
a secondary hub. The blades are rigid in both rotors.
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3 VEHICLESIM AS MODELLING
TOOL
VehicleSim is a multibody modelling software. It has
been used over a wide range of mechanical dynamic
studies, mainly in connection to vehicle dynamics
[13] and it has provided the basis for commercial
simulation codes such as TruckSim, CarSim and
BikeSim [6]. The syntactic rules of VehicleSim are
straightforward. The output from VehicleSim can
take one of several forms: (a) a rich text format file
containing the symbolic equations of motion of the
system described; (b) a C language simulation
program with appropriate data files containing
parameter values and simulation run control
parameters or (c) linear state space equations in a
MATLAB Mfile format that contains symbolic
statespace A, B, C, D matrices that can be used for
linear analysis. Once the model has been built, it
becomes independent of VehicleSim and can be
executed at any time.
4 PROGRAM STRUCTURE
VehicleSim Lisp is used to develop the multibody
system code that represents a helicopter system. The
multibody system is subdivided into its constituent
bodies for the purpose of writing the VehicleSim
code. The bodies are arranged as a parent-child
relationship. The first body is the inertial frame and it
has the fuselage as its only child. The fuselage is
located at the origin of the inertial coordinates system
and it is the parent of both the main and tail rotors.
The main rotor rotates around its vertical axis, Z axis.
The main rotor is the parent of the flap hinge that
rotates around the corresponding X axis, the lag
hinge is the child of the flap hinge. The lag hinge
rotates around the Z axis. The feather hinge is the
child of the lag hinge. The feather hinge rotates
around the Y axis. Finally, the blade is added to the
program structure as the child of the feather hinge.
The tail rotor is built up following this same parentchild structure.
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Symbol
mh
mbl1
mbl2
mbl3
mbl4
kfj
klj
dlj
Value
2064 (kg)
31.06 (kg)
31.26 (kg)
29.96 (kg)
31.16 (kg)
46772 (Nm/rad)
314938(Nm/rad)
349.58(Nms/rad)
44.4 (rad/s)
5 AERODYNAMIC MODEL IN
HOVER
5.1 AIR DENSITY
For every flight condition, the air density changes
with the height (h), for the lower atmosphere where
helicopters fly below 6000 m, the standard value of
air density can be approximated as:
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6 VIBRATIONS ANALYSIS
The analysis of the vibration modes on a helicopter is
a difficult task due to the complexity of the structure,
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References
Figure 12: Fuselage vibrations Spectrogram on the Y
axis for mbl1 = 31.06 kg, mbl2 = 31.26 kg, mbl3 =
29.96 kg and mbl4 = 31.16 kg and on the tail rotor
they are; mbltl1 = 6.212 kg and mbltl2 = 6.222 kg.
7 CONCLUSIONS
The helicopter model under study is on Sikorsky
configuration, the model reproduces the dynamic
behaviour of a helicopter, which is capable to
transmit perturbations from the main rotor to the
fuselage in form of vibrations. The model has been
implemented in VehicleSim, a program allows to
define the systems as composition of several bodies
and ligatures by using a parental relationship
parent/child structure.
This work has presented a helicopter aerodynamic
model in which the blade element theory has been
used for implementation hover flight. This is
important in order to study and analyze the vibrations
appearing in the fuselage as a consequence of
aerodynamic load under these flying conditions.
Various tests under the action of these conditions
were carried out in order to study pure vibrations
appearing on the fuselage roll and pitch axes.
In hover flight and under unbalance of masses on
both rotors, fuselage vibrations spectrograms were
obtained and analyzed by using a short time Fourier
transform process, various cases were considered,
when the aerodynamic load for hover flight was
included in the dynamic helicopter model, the
obtained results match those predicted by theoretical
approaches. In addition to this, these vibrations were
compared to dynamic vibrations generated with the
same helicopter model in absence of the aerodynamic
load. As a consequence, the spectrograms were also
studied and these showed a reasonable discrepancy
according to the expected behaviour introduced by
the aerodynamic model. These results are still on an
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