1

0.1 Derivation of Theodorsen Aerodynamic Model

Theodorsen assumed the magnitude of oscillation to be small and the oncom-
ing velocity to be constant. In the present work, Theodorsen model is slightly
modied to include time varying oncoming velocity and for large magnitude of
oscillation. It is assumed that the trailing wake is harmonic in this case.
Theodorsen model is developed for thin airfoils essentially a at plate. Con-
formal mapping is used to model the ow around a at plate from the ow
around a 2D circle. The non-circulatory lift is generated with a source-sink
sheet distributed along the chord. The strength of the source-sink sheet is de-
termined from the boundary condition that there is no ow penetration through
the surface of the airfoil. The circulatory lift is generated with a vortex sheet
on the airfoil and in the wake that extends upto innity. The strength of the
vortex sheet is determined from the kutta condition that the ow leaves the
trailing edge smoothly.
The Joukowski conformal mapping that is used to map a circle of radius b
centered at the origin to a at plate of semichord 2b is given by
x + iy = X + iY +
b
2
X + iY
(0.1)
where
(x, y)- mapped domain(at plate)
(X, Y )-unmapped domain(circle)
This transformation maps all points outside the circle to a location outside
the at plate, points inside the circle to a location outside the at plate but on
dierent Rieman surface, points on the circle to locations on the at plate.
For an airfoil, the deformation is given by
y =
h
b
+x (0.2)
where
x and y are non-dimensionalized with respect to semi-chord(b).
y and h are positive downwards and is positive clockwose.
Non-Circulatory Flow
The Non-circulatory ow is represented by source-sink pair sheet.
The net velocity potential due to source-sink sheet distributed along the chord
of the at plate is given by
=
_
1
c

sourcesink
bdx
1
(0.3)
2
where
c is the location of the leading edge of at plate.
The velocity potential at a point on the unit circle (X, Y ) due to a source
or sink placed at origin is given by
=

4
log
_
X
2
+Y
2
_
(0.4)
where
- Strength of source or sink
(X, Y )- Spatial location in the unmapped domain(circle)
The velocity potential of a source or sink placed at (X
1
, Y
1
) is given by
=

4
log
_
(X X
1
)
2
+ (Y Y
1
)
2
_
(0.5)
Putting the double source of strength of 2 at (X
1
, Y
1
) and a double sink of
strength of 2 at (X
1
, Y
1
) as shown in [1], we get the ow around a circle
[Figure 0.1]. The combined velocity potential is obtained by the summation of
individual potentials. The combined velocity potential in the unmapped domain
is given by
=

2
log
(X X
1
)
2
+ (Y Y
1
)
2
(X X
1
)
2
+ (Y +Y
1
)
2
(0.6)
where is dened on a unit circle and it implies Y =

1 X
2
and Y
1
=
_
1 X
1
2
.
Using Joukowski mapping, we map the points on the circle directly to locations
on the at plate.
x + iy = X +i
_
1 X
2
+
b
2
X +i

1 X
2
(0.7)
x + iy = X +i
_
1 X
2
+
X i

1 X
2
X
2
+ (1 X
2
)
(0.8)
x + iy = X +i
_
1 X
2
+X i
_
1 X
2
(0.9)
x = 2X (0.10)
By Joukowski transform of a unit circle, the at plate domain is from 2 to 2.
Applying change of variables to change the domain from 1 to 1, x becomes
2x.
This implies
x = X (0.11)
Y =
_
1 x
2
(0.12)
3
Fig. 0.1: Conformal mapping of at plate by a circle
Applying the transformation to [Eqn 0.6], we get the velocity potential due to
source-sink pair as

sourcesink
=

2
log
(x x
1
)
2
+ (y y
1
)
2
(x x
1
)
2
+ (y +y
1
)
2
(0.13)
Put [Eqn 0.13] in [Eqn 0.3], we get
=
_
1
c

2
log
(x x
1
)
2
+
_
1 x
2

1 x
1
2
_
2
(x x
1
)
2
+
_
1 x
2
+

1 x
1
2
_
2
bdx
1
(0.14)
The strength of source or sink as determined by the boundary condition that
there is no ow penetrating the airfoil [Figure 0.2]. At the airfoil surface, the
velocity must be perpendicular to the surface and the velocity of the uid owing
out of the source is the strength of the source. To satisfy this, the velocity
generated by the source or sink must be equal and opposite to the component
of freestream minus the transverse motion of the airfoil.
v

x
y =

t
y (0.15)
Changing to the non-dimensionalised quantities,
= v

x
y +b

t
y (0.16)
4
where
v-free stream velocity
y-motion of the airfoil which is positive upwards non-dimensionalised with re-
spect to semi-chord(b).
The motion of aileron is represented by
y = (x c) (0.17)
where
c-location of aileron hinge from the midpoint.
Fig. 0.2: Airfoil with no penetration boundary condition Ref.[2]
To account for the eect of ap deection by an angle (positive clockwise),
is replaced by
= v (0.18)
Put [Eqn 0.18] in [Eqn 0.14], we get

=
_
1
c
log
(x x
1
)
2
+
_
1 x
2

1 x
1
2
_
2
(x x
1
)
2
+
_
1 x
2
+

1 x
1
2
_
2
bdx
1
(0.19)
From [1], we have
_
1
c
v
2
log
(x x
1
)
2
+
_
1 x
2

1 x
1
2
_
2
(x x
1
)
2
+
_
1 x
2
+

1 x
1
2
_
2
dx
1
=
2 (x c) (log) N 2
_
1 x
2
cos
1
(c)
(0.20)
5
where
N =
1 cx

1 x
2

1 c
2
x c
(0.21)
The net velocity potential due to is

=
v b

_
_
1 x
2
cos
1
(c) (x c) log N
_
(0.22)
where
N =
1 cx

1 x
2

1 c
2
x c
(0.23)
To account for the eect of ap deecting at an angular velocity
d
dt
is repre-
sented by = (x
1
c)
d
dt
b which gives
d
dt

=
_
1
c
(x
1
c)
d
dt
b
2
log
(x x
1
)
2
+
_
1 x
2

1 x
1
2
_
2
(x x
1
)
2
+
_
1 x
2
+

1 x
1
2
_
2
bdx
1
(0.24)
From [1], we have
_
1
c
(x
1
c) log
(x x
1
)
2
+
_
1 x
2

1 x
1
2
_
2
(x x
1
)
2
+
_
1 x
2
+

1 x
1
2
_
2
dx
1
=
_

_
1 x
2
_
1 c
2
cos
1
(c) (x 2 c)
_
1 x
2
+ (x c)
2
log N
_
(0.25)
The net velocity potential due to
d
dt
is
d
dt

=
d
dt
b
2
2
_
_
1 x
2
_
1 c
2
+ cos
1
(c) (x 2 c)
_
1 x
2
(x c)
2
log N
_
(0.26)
To account for the eect of angle of attack of the airfoil , put c = 1 in [Eqn
0.22] which gives

= vb
_
1 x
2
(0.27)
To take into account, the eect of airfoil in downward motion with a velocity
d
dt
h, replace in [Eqn 0.27] by tan
1
_
d
dt
h
v
_
which gives
d
dt
h(t)
= tan
1
_
d
dt
h
v
_
vb
_
1 x
2
(0.28)
To account for the rotation of airfoil around a at an angular velocity
d
dt
, we
should consider two cases.
6
1. Eect of rotation of the entire airfoil around the leading edge obtained by
substituting c = 1 in [Eqn 0.26].
2. Subtract the eect of the vertical velocity of the actual point of rotation
which is obtained by substituting
d
dt
(1+a)b
v
for in [Eqn 0.27] .
d
dt

=
1
2
_
d
dt

_
b
2
(x + 2)
_
1 x
2

_
d
dt

_
(1 +a) b
2
_
1 x
2
(0.29)
which gives
d
dt

=
d
dt
b
2
_
x
2
a
_
_
1 x
2
(0.30)
The various integrals evaluated are listed here.
_
1
c

dx =
1
2
bvT
4
(0.31)
_
1
1

dx =
1
2
bv (0.32)
d
dt
_
1
1

dx =
b
2

_
v
d
dt
+
d
dt
v
_
(0.33)
_
1
c
d
dt
h
dx =
1
2
b
d
dt
hT
4
(0.34)
_
1
1
d
dt
h
dx =
b
2
v tan
1
_
d
dt
h
v
_
(0.35)
d
dt
_
1
1
d
dt
h
dx =
b
2

_
d
dt
v
_
tan
1
_
d
dt
h
v
_
+
b
2
v
_
d
2
dt
2
h
v

(
d
dt
h)
d
dt
v
(v)
2
_
_
1 +
(
d
dt
h)
2
(v)
2
_ (0.36)
_
1
c
d
dt

dx =
d
dt
b
2
T
9
(0.37)
_
1
1
d
dt

dx =
1
2
d
dt
b
2
a (0.38)
d
dt
_
1
1
d
dt

dx =
1
2
d
2
dt
2
b
2
a (0.39)
_
1
c

dx =
1
2
bv T
5

(0.40)
_
1
1

dx =
1
2
bv T
4
(0.41)
7
d
dt
_
1
1

dx =
T
4
b
2
_
v
d
dt
+
d
dt
v
_
(0.42)
_
1
c
d
dt

dx =
1
2
b
2
d
dt
T
2
(0.43)
_
1
1
d
dt

dx =
1
2
b
2
d
dt
T
1
(0.44)
d
dt
_
1
1
d
dt

dx =
1
2
b
2
d
2
dt
2
T
1
(0.45)
where T

are Theodorsen constants which are given below.

T
1
= 1/3
_
1 c
2
_
2 +c
2
_
+c cos
1
(c) (0.46)
T
2
= c
_
1 c
2
_

_
1 c
2
_
1 +c
2
_
cos
1
(c) +c
_
cos
1
(c)
_
2
(0.47)
T
3
=
_
1/8 +c
2
_ _
cos
1
(c)
_
2
+ 1/4 c
_
1 c
2
cos
1
(c)
_
7 + 2 c
2
_
1/8
_
1 c
2
_ _
5 c
2
+ 4
_
(0.48)
T
4
= cos
1
(c) +c
_
1 c
2
(0.49)
T
5
= 1 +c
2

_
cos
1
(c)
_
2
+ 2 c
_
1 c
2
cos
1
(c) (0.50)
T
6
= T
2
(0.51)
T
7
=
_
1/8 +c
2
_
cos
1
(c) + 1/8 c
_
1 c
2
_
7 + 2 c
2
_
(0.52)
T
8
= 1/3
_
1 c
2
_
2 c
2
+ 1
_
+c cos
1
(c) (0.53)
T
9
= 1/2 p + 1/2 aT
4
(0.54)
where
p = 1/3
_
1 c
2
_
3/2
T
10
=
_
1 c
2
+ cos
1
(c) (0.55)
T
11
= cos
1
(c) (1 2 c) +
_
1 c
2
(2 c) (0.56)
T
12
=
_
1 c
2
(2 +c) cos
1
(c) (2 c + 1) (0.57)
T
13
= 1/2 T
7
1/2 (c a) T
1
(0.58)
T
14
=
1
16
+
1
2
ac (0.59)
Non-Circulatory Forces
The forces can be calculated by nding out the pressure dierence and integrat-
ing over the surface. Bernoulli equation for unsteady ow is given by
p
0
= p + 1/2 V
2
+

t
(0.60)
8
Applying for free stream condition, we get
p
0
= p

+ 1/2 v
2
(0.61)
where v is the free stream velocity.
Bernoulli equation is linearized for small disturbances along x and y namely
v

and w

respectively.
V =
_
v + v

_
i + w

j (0.62)
V
2
= v
2
+ 2 vv

(0.63)
The linearised Bernoulli equation is given by
p p

=
_
v

x
+

t

_
(0.64)
Non-dimensionalising x with respect to semi-chord b, we get
p p

=
_
v
b

x
+

t

_
(0.65)
The pressure dierence between the upper and lower surface is given by
p = 2
_
v
b

x
+

t

_
(0.66)
The lift is obtained by integrating the pressure dierence over the entire airfoil
as follows
L
NC
= b
_
1
1
pdx (0.67)
which gives
L
NC
= b
2
_
v
d
dt
+
d
dt
v +
d
dt
v tan
1
d
dt
h
v
_
b
2
_
_
v
d
2
dt
2
h
v

d
dt
h
d
dt
v
v
2
1 +
(
d
dt
h)
2
v
2
ba
d
2
dt
2

_
_
+ b
2
_
T
4
_
v
d
dt
+
d
dt
v
_
bT
1
d
2
dt
2

_
(0.68)
which is positive downwards.
The non-circulatory ow gives forces due to accelerations only.
Circulatory Flow
The non-circulatory lift force is derived by considering the boundary condition
that there is no ow penetrating the airfoil. The non-circulatory ow model does
9
not satisfy kutta condition which states that the ow should leave the trailing
edge smoothly. The circulatory ow is developed using a vortex sheet on the
airfoil as well as in the wake that extends upto innity as show in [Figure 0.3].
These pair of vortices does not violate the no penetration boundary condition
as the normal velocities on the unit circle due to this vortex pair is zero.
Fig. 0.3: Vortex locations for the airfoil-aileron combination
The velocity potential of a point vortex is given by

=

2
tan
1
_
Y Y
1
X X
1
_
(0.69)
where
is the Vortex strength
(X, Y ) is the spatial location in the unmapped domain(unit circle)
(X
1
, Y
1
) is the location of point vortex in the unmapped domain
The combined velocity potential for a pair of point vortices, one outside cir-
cle at a distance X
0
and the other inside the circle at a distance
1
X0
is given
by

=

2
_
tan
1
_
Y Y
0
X X
0
_
tan
1
_
Y Y
0
X
1
X0
__
(0.70)
where
X and Y are spatial variables in the unmapped plane
is the vortex strength at X
0
10
Using properties of tangents, the above equation gets simplied to

=

2
tan
1
_
X
0

1
X0
_
Y
_
X
2

_
X
0
+
1
X0
_
X +Y
2
+ 1
_ (0.71)
Applying Joukowski transformation,
For X
0
,
x +iy = X
0
+
1
X
0
(0.72)
x
0
= X
0
+
1
X
0
(0.73)
For
1
X0
,
x +iy =
1
X
0
+
1
1
X
0
(0.74)
x
0
=
1
X
0
+X
0
(0.75)
Both X
0
and
1
X0
in the unmapped domain get transformed to the same location
x
0
in the mapped domain.
We have,
x
0
=
1
X
0
+X
0
(0.76)
2X = x (0.77)
The mapped domain is from -2 to 2 for x and from 2 to for x
0
. Apply change
of variables to change the domain for x from -1 to 1 and for x
0
from 2 to , we
get
x
0
2x
0
(0.78)
x 2x (0.79)
This implies,
X
0
+
1
X
0
= 2x
0
(0.80)
X = x (0.81)
Y =
_
1 x
2
(0.82)
X
0
= x
0
+
_
x
0
2
1 (0.83)
1
X
0
= x
0

_
x
0
2
1 (0.84)
11
Substitute [Eqns 0.81-0.84] in [Eqn 0.71], we get

=

2
tan
1
_

1 x
2

x
0
2
1
1 xx
0
_
(0.85)
The Pressure dierence between the upper surface and lower surface is given by
p = 2
_
v

x
+

t

_
(0.86)
Since the disturbance is assumed to move with free stream velocity, we have

t
= v

x
0
(0.87)
The pressure dierence is given by
p = 2 v
_

x
+

x
0

_
(0.88)
Non-dimensionalising x and x
0
with respect to semi-chord b, we get the pressure
dierence as
p =
2 v
b
_

x
+

x
0

_
(0.89)
Using [Eqn 0.85], we get from [1],
2

x

x
0
2
1

1 x
2
(x
0
x)
(0.90)
2

x0

1 x
2

x
0
2
1 (x
0
x)
(0.91)
The pressure dierence is given by
p =
v
b
_

1 x
2

x
0
2
1 (x
0
x)
+

x
0
2
1

1 x
2
(x
0
x)
_
(0.92)
which gets simplied to
p =
v
b
(x
0
+x)

1 x
2

x
0
2
1
(0.93)
Now the lift force on the airfoil is obtained by integrating over the domain
L
C
=
v

_
1
1
x
0
+x

1 x
2

x
0
2
1
dx (0.94)
L
C
= v
x
0

x
0
2
1
(0.95)
12
Replacing with Ubdx
0
where U is the strength of the vortex per unit length
and integrating [Eqn 0.95] from trailing edge to innity gives the circulatory
lift.
L
C
= vb
_

1
x
0
U

x
0
2
1
dx
0
(0.96)
Similarly, the velocity potential of the vortex sheet is given by

0
=
b
2
_

1
tan
1
_

1 x
2

x
0
2
1
1 xx
0
_
Udx
0
(0.97)
Circulatory Forces
The Magnitude of vortex strength is determined by kutta condition which states
that the ow should leave the trailing edge smoothly. In other words, velocities
at the trailing edge should not be innite.
For nite trailing edge angle(
t.e
> 0) as in [Figure 0.4], the velocities on the
upper and lower surfaces must be tangential to their respective surfaces. This
implies the existence of two dierent velocities at the trailing edge. So, the only
realistic option is,
V
upper
= V
lower
= 0 (0.98)
Fig. 0.4: Flow around trailing edge- Kutta condition
Thus at x = 1,

+

x
d
dt
h
+

x

+

x
d
dt

+

x

+

x
d
dt

= nite = 0 (0.99)
At x = 1,

1 x
2
b

=
1
2
_

1
U

x
0
+ 1

x
0
1
dx
0
(0.100)

1 x
2
b

= v (0.101)
13

1 x
2
b

x
d
dt
h
= v tan
1
d
dt
h
v
(0.102)

1 x
2
b

x
d
dt

= b (1/2 a)
d
dt
(0.103)

1 x
2
b

=
vT
10

(0.104)

1 x
2
b

x
d
dt

=
1
2
b
_
d
dt

_
T
11

(0.105)
Substituting the terms, the [Eqn 0.99] gives an important expression.
1
2
_

1

x
0
+ 1U

x
0
1
dx
0
=
v +v tan
1
_
d
dt
h
v
_
+b
_
1
2
a
_
d
dt
+v
T
10

+
1
2
bT
11
d
dt

= Q
(0.106)
Multiply [Eqn 0.96] by Q and divide it by
1
2
_

x0+1

x01
Udx
0
we get
L
C
= 2 vbQ
_

1
x0

x0
2
1
Udx
0
_

1
_
x0+1
x01
Udx
0
(0.107)
which is positive downwards.
L
C
= 2 vbQC (k) (0.108)
where C(k) is the Theodorsen Lift deciency function given by
C (k) =
_

1
x0

x0
2
1
Udx
0
_

1
_
x0+1
x01
Udx
0
(0.109)
and its solutions are bessels function.
The complete expression for Lift is given by
L = b
2
_
v
d
dt
+
d
dt
v +
d
dt
v tan
1
d
dt
h
v
_
b
2
_
_
v
d
2
dt
2
h
v

d
dt
h
d
dt
v
v
2
1 +
(
d
dt
h)
2
v
2
ba
d
2
dt
2

_
_
+ b
2
_
T
4
_
v
d
dt
+
d
dt
v
_
bT
1
d
2
dt
2

_
2 vbC (k) v
_
+ tan
1
_
d
dt
h
v
_
+
b
_
1
2
a
_
d
dt

v
_
2 vbC (k) v
_
T
10

+
1
2
bT
11
d
dt

v
_
(0.110)
14
which is positive downwards.
The above equation is the Theodorsen equation modied for varying oncom-
ing air stream and for large magnitude of oscillations.
BIBLIOGRAPHY
[1] Theodorsen, Theodore General theory of aerodynamic instability and the
mechanism of utter, Technical report, National Advisory Committee for
Aeronautics, Technical report No. 496, 1934.
[2] Walker, William.Paul. Unsteady aerodynamics of deformable thin air-
foils, Masters thesis, Virginia Polytechnic Institute, 2009.