9.

MATH MODELING AND FLIGHT SIMULATION

GOALS OF FLIGHT SIMULATION

Predict mathematically:

1. Equilibrium flight condition (Trim)

2. Flight mode stability of the aircraft (Stab Analysis),

3. Time history response of the aircraft due to pilot inputs, external disturbances.(Maneuver)

NON REAL TIME GLOBAL MODELS

BASED ON KNOWN AVAILABLE PHYSICS PRIMARY USES: COMPONENT DESIGN (Rotor, fuselage, etc) INTER-RELATIONSHIP AMONG COMPONENTS DEVELOPMENT OF MORE ADVANCED MODLES LIMITED BY ACCURATE KNOWLEDGE OF PHYSICS DEVELOPMENT OF DIGITIAL COMPUTERS

ONE ANALYSIS/PROGRAM APPLICABLE TO SEVERAL AIRCRAFT MODELS

REAL TIME MODELS

INDIVIDUAL MODEL FOR EACH AIRCRAFT MODEL

MODEL LOOSELY BASED IN PHYSICS BUT TWEAKED TO AIRCRAFT FLIES LIKE THE REAL AIRCRAFT TO TEST PILOTS
PRIMARY USES: PILOT FAMILIARZATION, PILOT TRAING, CONTROL SYSTEM DESIGN AND EVALUATION, ACCIDENT INVESTIGATION MAY NOT BE USEFUL FOR DETAILED DESIGN OF MECHANICAL COMPONENTS

TYPICAL RESULTS

Rotor/Fuselage States Aerodynamic Performance/Loads Handling Qualities Fuselage/Rotor Vibrations/Stability Response to External or Control Inputs

MODES OF OPERATION

TRIM

STAB (Linearized Model)

TIME HISTORY

TRIM
Required Inputs: 1. Complete structural and aerodynamic description of aircraft using either measured aerodynamic data or analytic functions.

2. Complete description of Control System

3. Flight Condition description (gross weight, cg, speed, atmospheric properties) Typical Results:

1. Attitude of aircraft (yaw, pitch, roll), Rotor flapping angles (fore/aft and lateral flapping) for 2 rotors
2. Position of pilots controls 3. Steady state performance (HP, fuel flow,etc) and

Steady state oscillatory rotor and fuselage loads

TRIM MATHEMATICS

Trimmed Helicopter flight condition is described by 11 independent variables: 3 fuselage angles(yaw, pitch, roll); 4 pilot controls (collective, f/a cyclic, lateral cyclic, and pedals) and 4 rigid blade flapping angles (f/a and lateral) for 2 independent rotors.

These 11 independent variables must satisfy 10 static equilibrium equations ( 3 forces and 3 moments at and about cg, fore/aft and lateral flapping moments for 2 independent rotors

TRIM SOLUTION TECHNIQUE

1. Assume fixed value of 1 flight condition independent variable (usually fuselage pitch or roll angle) to obtain 10 nonlinear algebraic equations in 10 unknowns. 2. Guess values for remaining 10 independent variables and iterate on them until all 10 static equilibrium equations are satisfied

STAB ANALYSIS
GOAL: Produce a linearized mathematical model that is valid over a small region about the equilibrium flight condition obtained in the Trim process.

METHOD: Calculate the changes in all fuselage and rotor forces and moments due to small perturbations in the flight variables- displacements, velocities, and control inputs. Produces 10x10 mass, damping, and stiffness matrices; and a 10x4 control effectiveness matrix

STAB RESULTS

Stick fixed aircraft stability obtained from Eigen value solution. System damped natural frequencies and mode shapes. Time to half (stable roots) or time to double amplitude (unstable roots) Single input-Single output transfer functions to show aircraft response to control inputs. Starting point in designing automatic flight control system.M Many System requirements are described in terms resulting for the Stab Results.

TIME HISTORY SOLUTION

TASK: Determine time history response of aircraft, performance, rotor loads, fuselage vibrations, etc following Pilot control input, change is aircraft configuration change is atmosphere. SOLUTION: Use 4 cycle Runge_Kutta method to numerically integrate NDE nonlinear, coupled differential equations NDE= Fuselage Rigid Body Degrees of Freedom 6 number of elastic fuselage modes from NASTRAN ?? number of elastic rotor modes from MYKLESSAD ???

5< NDE <250

ROTOR MODELS

1. Rotor Disk or Frisbee Model 2. Blade Element Model 3. Aeroelastic Model

ROTOR DISK or FRISBEE

Linear Model Rotor Forces as function of (radius, tipspeed, solidity, average slope of lift curve, collective pitch, cyclic pitch, rotor inflow, twist) Neglects: Stall, compressibility effects, mach number effects, different airfoils, taper, nonlinear twist, elastic blade deflections and velocities Produce quick Back of the Envelope results

Thrust Coefficient from Approximate Linearized Integration

a [ T 1 + 0 T 2 + T T 3 + 2 T 4 ] CT = 2

BLADE ELEMENT MODEL

Blade Aerodynamic forces are calculated at 20 radial stations and 24 azimuth locations Requires solution of Rigid Blade Flapping Differential Equation

Includes nonlinear aerodynamic effects (stall, compressibility, nonlinear twist, non uniform airfoil radial distribution

Neglects effects of blade/fuselage Elastic displacements and velocities

BLADE ELEMENT AERODYNAMIC MODEL

BLADE ELEMENT AERODYNAMICS

BLADE FLAPPING DIFFERENTIAL EQUATION

BLADE ELEMENT AERO FORCES

CL from Airfoil data tables

CD from Airfoil data tables

AIRFOIL LIFT AS A FUNCTION OF MACH AND ALPHA

ANGLE OF ATTACK (DEGREES) -25 -14 -12 -10 -8 -6 -4 -3 -2 -1 0 1 2 3 4 6 8 10 11 12 12.5 13 13.5 14 14.5 15 16 17 20 25 0.3 0.4 -0.892 -0.892 -0.81 -0.81 -0.816 -0.816 -0.766 -0.766 -0.655 -0.67 -0.51 -0.54 -0.34 -0.35 -0.24 -0.25 -0.14 -0.15 -0.03 -0.03 0.09 0.095 0.21 0.22 0.32 0.33 0.44 0.45 0.55 0.57 0.78 0.79 0.99 1.02 1.2 1.24 1.31 1.35 1.41 1.435 1.46 1.43 1.51 1.39 1.54 1.34 1.535 1.29 1.5 1.26 1.435 1.24 1.392 1.19 1.326 1.15 1.172 1.172 0.892 0.892 0.5 -0.892 -0.81 -0.816 -0.766 -0.66 -0.53 -0.34 -0.24 -0.13 0 0.12 0.24 0.36 0.49 0.65 0.87 1.13 1.36 1.47 1.55 1.43 1.42 1.42 1.41 1.39 1.36 1.325 1.3 1.172 0.892 MACH NUMBER 0.68 0.74 0.92 -0.892 -0.892 -0.8922 -0.783 -0.76 -0.69 -0.786 -0.761 -0.59 -0.758 -0.751 -0.48 -0.68 -0.69 -0.39 -0.625 -0.681 -0.35 -0.44 -0.5 -0.3 -0.313 -0.35 -0.2 -0.161 -0.17 -0.1 0.006 0.02 0 0.163 0.2 0.1 0.3177 0.35 0.2 0.447 0.47 0.3 0.56 0.56 0.4 0.663 0.64 0.5 0.863 0.78 0.59 1.021 0.91 0.69 1.122 1.03 0.73 1.15 1.09 0.74 1.195 1.14 0.74 1.212 1.17 0.738 1.229 1.2 0.735 1.251 1.23 0.732 1.269 1.26 0.73 1.285 1.29 0.73 1.297 1.32 0.72 1.274 1.295 0.7 1.288 1.316 0.67 1.294 1.3 0.64 1.036 1.16 0.65 1 -0.892 -0.69 -0.59 -0.48 -0.39 -0.35 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5 0.59 0.69 0.73 0.74 0.74 0.738 0.735 0.732 0.73 0.73 0.72 0.7 0.67 0.64 0.65

TYPICAL AIR FOIL LIFT DATA TABLE

BVR-7 Airfoil Lift

2 0.3 0.4 0.5 0.68 0.74 10 20 30 0.92 1

Lift Coefficient (cl)

1.5 1 0.5 0 -30 -20 -10 -0.5 0 -1 -1.5 Angle of Attack (degrees)

AEROELASTIC MODEL
REQUIRES AS INPUT FULLY COUPLED (BEAM/CHORD/TORSION) BLADE MODE SHAPES AND NATURAL FREQUIENCES)
SOLUTION REQUIRES NUMERICAL INTEGRATION OF SEVERAL NON-LINEAR SECOND ORDER COUPLED DIFFERENTIAL EQUATIONS WITH TIME DEPENDENT COEFFICENTS

PRODUCES ROTOR SHEAR AND MOMENT DISTRIBUTIONS INCLUDING ELASTIC EFFECTS

AIRPLANES VS. HELICOPTERS

AIRPLANES
6 DEGREES OF FREEDOM: 3 FORCES AND 3 MOMENTS 7 IND. VARIABLES: YAW PITCH ROLL ANGLES THROTTLE F/A STICK LAT STICK PEDALS

HELICOPTERS 10 DEGREES OF FREEDOM: 3 FUSE FORCES AND 3 FUS MOMENTS + F/A AND LATERAL MOMENTS ON 2 ROTORS 11 IND. VARIABLES: FUSELAGE YAW PITCH AND ROLL ANGLES COLLECTIVE F/A CYCLIC LAT CYCLIC PEDAL + F/A AND LATERAL FLAPPING FOR 2 ROTORS

PROBLEMS ASSOCIATED WITH GLOBAL SIMULATION PROGRAMS

COPTER CAMRAD FLIGHT LAB

VALIDITY OF IMBEDDED ANALYTICAL MODELS

INDIVIDUAL COMPONENTS (Induced Velocity, Tip Vortex, Mechanical Friction) cannot be verified as a stand alone component

INNERACTION OF MAJOR COMPONENTS ARE DIFFICULT, IF NOT IMPOSSIBLE, TO MODEL (Operating environment of Tail Rotor)
MATH MODELS OF PILOT/HUMAN REACTION ARE SUSPECT

VALIDITY OF INPUT DATA

STEADY/UNSTEADY AERODYNAMIC COEFFICIENTS OVER TOTAL OPERATING REGION (Mach, Angle of Attack)

FINITE ELEMENT MODEL/RESULTS FOR FIXED COMPONENTS

FULLY COUPLED BEAM/CHORD/TORSION BLADE NATURAL FREQUENCIES AND MODE SHAPES

USE OF OUTPUT DATA

MANAGING THE NUMBER OF OUTPUT DATA

INTERPRETATION OF RESULTS (Knowledge of Coordinate System, Units, etc)

ADVANCES IN DIGITAL COMPUTERS

1972: IBM 360 MAIN FRAME COMPUTER BLADE ELEMENT MODEL REQUIRED 15 MINUTES TO MODEL 4 SEC REAL TIME RATIO: 1 SEC REAL TIME=225 SEC CPU TIME 2002: DESKTOP PC: 1 SEC REAL TIME=.2 SEC CPU TIME

DESK TOP SIMULATION PROGRAMS

MICROSOFT FLIGHT SIMULATOR 2002 X PLANE FLY II STRONG POINTS: GRPHICS, EYE CANDY, NAVIGATION AIDS, AIRPORTS, WEATHER WEAK POINTS: ACCURATE REPRESENTATION OF VEHICLE DYNAMICS

ROTOR MODELING PROBLEMS

AERODYNAMIC MODELS HAVE DIFFICULTY WITH
1 UNSTEADY AERODYNAMICS 2 STALL/ REVERSED FLOW

3 TIP VORTEX
4 ROTOR WAKE

INCREASING MODELING DETAIL DOES NOT NECESSARILY PRODUCE BETTER ANSWERS *** UNIFORM TEXTURE***