A. Gardner, A. Weiss, J. Heineck, A. Overmeyer, H. Spooner, Dr. R. K. Jain, C. Wolf, M. Raffel
A well-defined reference set of data for computational fluid dynamics and comprehensive code validation for a scaled helicopter main rotor with boundary layer transition in forward flight is presented. The boundary layer transition was measured using differential infrared thermography (DIT) on the top (suction) side of the NASA/Army “PSP rotor” in the NASA Langley 14-by-22-Foot Subsonic Tunnel. The tests used a FLIR X8500 SLS long-wave infrared camera to observe the three-bladed rotor. The boundary layer transition was detected for forward flight at an advance ratio of 0.3 (115 kt). The measured boundary layer transition positions are consistent with previous measurements and predicted boundary layer transition locations. A method for the analysis of DIT images for a rotor in forward flight is shown and validated based on computational analysis of a pitching airfoil with varying inflow, showing both qualitative and quantitative similarity to experimental data.
{"title":"Boundary Layer Transition Measured by DIT on the PSP Rotor in Forward Flight","authors":"A. Gardner, A. Weiss, J. Heineck, A. Overmeyer, H. Spooner, Dr. R. K. Jain, C. Wolf, M. Raffel","doi":"10.4050/JAHS.66.022008","DOIUrl":"https://doi.org/10.4050/JAHS.66.022008","url":null,"abstract":"\u0000 A well-defined reference set of data for computational fluid dynamics and comprehensive code validation for a scaled helicopter main rotor with boundary layer transition in forward flight is presented. The boundary layer transition was measured using differential infrared thermography (DIT) on the top (suction) side of the NASA/Army “PSP rotor” in the NASA Langley 14-by-22-Foot Subsonic Tunnel. The tests used a FLIR X8500 SLS long-wave infrared camera to observe the three-bladed rotor. The boundary layer transition was detected for forward flight at an advance ratio of 0.3 (115 kt). The measured boundary layer transition positions are consistent with previous measurements and predicted boundary layer transition locations. A method for the analysis of DIT images for a rotor in forward flight is shown and validated based on computational analysis of a pitching airfoil with varying inflow, showing both qualitative and quantitative similarity to experimental data.\u0000","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":" ","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47508562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sliding mode control (SMC) is a promising technique for robust control synthesis with desirable properties. This paper describes the synthesis and piloted evaluation of advanced helicopter response types using the SMC technique. The required closed-loop response characteristics are specified as ideal, lower order, axial transfer functions that conform to predicted level 1 handling qualities. Two-loop, full-authority, output-tracking SMC laws are then synthesized to enforce the closed-loop performance and accurately track pilot commands. Analytical proofs for SMC gain tuning are given for the closed-loop performance to remain robust to unknown but bounded uncertainties in the input channels and the effects of rotor modes on closed-loop stability. The closed-loop eigenstructure is nearly identical to the specified closed-loop performance and has good modal decoupling. Furthermore, a frequency domain analysis with a nonlinear helicopter model shows good stability margins and disturbance rejection characteristics. Finally, the paper reports on simulation testing conducted with four experimental test pilots in a rotorcraft simulation environment. The simulation results indicate improved mission task performance and handling qualities ratings and a substantial reduction in pilot workload for the SMC-based advanced response types compared to the bare-airframe responses.
{"title":"Synthesis and Piloted Evaluation of Advanced Rotorcraft Response Types Using Robust Sliding Mode Control","authors":"Omkar Halbe, T. Mehling, M. Hajek, M. Vrdoljak","doi":"10.4050/JAHS.66.032008","DOIUrl":"https://doi.org/10.4050/JAHS.66.032008","url":null,"abstract":"Sliding mode control (SMC) is a promising technique for robust control synthesis with desirable properties. This paper describes the synthesis and piloted evaluation of advanced helicopter response types using the SMC technique. The required closed-loop response characteristics are\u0000 specified as ideal, lower order, axial transfer functions that conform to predicted level 1 handling qualities. Two-loop, full-authority, output-tracking SMC laws are then synthesized to enforce the closed-loop performance and accurately track pilot commands. Analytical proofs for SMC gain\u0000 tuning are given for the closed-loop performance to remain robust to unknown but bounded uncertainties in the input channels and the effects of rotor modes on closed-loop stability. The closed-loop eigenstructure is nearly identical to the specified closed-loop performance and has good modal\u0000 decoupling. Furthermore, a frequency domain analysis with a nonlinear helicopter model shows good stability margins and disturbance rejection characteristics. Finally, the paper reports on simulation testing conducted with four experimental test pilots in a rotorcraft simulation environment.\u0000 The simulation results indicate improved mission task performance and handling qualities ratings and a substantial reduction in pilot workload for the SMC-based advanced response types compared to the bare-airframe responses.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":" ","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42183669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"If you want to keep the Japanese Association of Hydrological Sciences active, you should submit “a kind of paper” to the Journal of Japanese Association of Hydrological Sciences","authors":"A. Higuchi","doi":"10.4145/JAHS.51.7","DOIUrl":"https://doi.org/10.4145/JAHS.51.7","url":null,"abstract":"","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"51 1","pages":"7-9"},"PeriodicalIF":1.5,"publicationDate":"2021-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47697189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper investigates broadband noise of multirotor urban air mobility (UAM) vertical take-off and landing (VTOL) vehicles. Based on an earlier single-rotor trailing-edge noise prediction method, a multirotor broadband noise prediction program is developed, where the multirotor coordinate transformation is included, and the amplitude modulation capability is introduced. Thereafter, the program is used to predict broadband noise from three UAM VTOL conceptual designs and a vertiport conceptual design. It is found that UAM VTOL vehicles' broadband noise is important in the high-frequency range, where the community background noise level is typically low. For the same mission specifications, broadband noise is found to be higher for VTOL designs with more rotors. UAM vehicle noise is compared to conventional helicopter noise. It is found that the amplitude modulation of broadband noise of a single rotor is insignificant when the observer distance is larger than four rotor radii. Multirotor vehicles at the same rotational speeds have weaker amplitude modulations than a single rotor, which demonstrates the benefits of using multiple rotors in terms of noise annoyance. Finally, noise contours from a vertiport design show an increase in the broadband noise level when multiple VTOL vehicles are operated simultaneously.
{"title":"Prediction of Urban Air Mobility Multirotor VTOL Broadband Noise Using UCD-QuietFly","authors":"Sicheng Li, Seongkyu Lee","doi":"10.4050/JAHS.66.032004","DOIUrl":"https://doi.org/10.4050/JAHS.66.032004","url":null,"abstract":"This paper investigates broadband noise of multirotor urban air mobility (UAM) vertical take-off and landing (VTOL) vehicles. Based on an earlier single-rotor trailing-edge noise prediction method, a multirotor broadband noise prediction program is developed, where the multirotor coordinate transformation is included, and the amplitude modulation capability is introduced. Thereafter, the program is used to predict broadband noise from three UAM VTOL conceptual designs and a vertiport conceptual design. It is found that UAM VTOL vehicles' broadband noise is important in the high-frequency range, where the community background noise level is typically low. For the same mission specifications, broadband noise is found to be higher for VTOL designs with more rotors. UAM vehicle noise is compared to conventional helicopter noise. It is found that the amplitude modulation of broadband noise of a single rotor is insignificant when the observer distance is larger than four rotor radii. Multirotor vehicles at the same rotational speeds have weaker amplitude modulations than a single rotor, which demonstrates the benefits of using multiple rotors in terms of noise annoyance. Finally, noise contours from a vertiport design show an increase in the broadband noise level when multiple VTOL vehicles are operated simultaneously.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"12 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70215965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
During the past two decades, there has been major growth of small-unmanned aerial vehicles (sUAV) for hobbyists and rapidly expanding commercial and military applications. The impetus for this dramatic expansion has been due to the explosion of mobile technology in terms of microelectronics, data processing and transmission capability, high-energy-density batteries, miniaturized integrated programmable chips, and innovations in computer vision and videography/photography. However, there are many challenges to overcome before these small unmanned aerial systems (sUAS) can be used for routine commercial and military applications, which include reliability, sizable payload and range, stringent navigation/guidance requirements, and precision takeoff/landing and robust autonomous flight in constrained and low-altitude gusty environment. The objective of this paper is to cover state-of-the-art of sUAS and delivery drones, identify technology gaps and key scientific barriers, and present future research needs for high payoff applications.
{"title":"Small UAS and Delivery Drones: Challenges and Opportunities The 38th Alexander A. Nikolsky Honorary Lecture","authors":"I. Chopra","doi":"10.4050/jahs.66.042001","DOIUrl":"https://doi.org/10.4050/jahs.66.042001","url":null,"abstract":"During the past two decades, there has been major growth of small-unmanned aerial vehicles (sUAV) for hobbyists and rapidly expanding commercial and military applications. The impetus for this dramatic expansion has been due to the explosion of mobile technology in terms of microelectronics, data processing and transmission capability, high-energy-density batteries, miniaturized integrated programmable chips, and innovations in computer vision and videography/photography. However, there are many challenges to overcome before these small unmanned aerial systems (sUAS) can be used for routine commercial and military applications, which include reliability, sizable payload and range, stringent navigation/guidance requirements, and precision takeoff/landing and robust autonomous flight in constrained and low-altitude gusty environment. The objective of this paper is to cover state-of-the-art of sUAS and delivery drones, identify technology gaps and key scientific barriers, and present future research needs for high payoff applications.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"1 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70215870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper presents an analytical model for estimation of proprotor aerodynamic loads at elevated incidence angles. Previous theories have concentrated on either small incidence angle for aircraft stability analysis or edge-wise flow for helicopter forward flight. This development attempted an engineering method that covers the full incidence angle range from 0 to π/2. Blade element theory was applied to known proprotor geometry, and off-axis loads including normal force and in-plane moment were obtained in closed form based on thrust and torque in axial condition. The model was found to be sufficiently accurate over a broader flight conditions compared to classical models, and computationally more efficient than numerical methods. Hence it could be easily used as a preliminary design and analysis tool for future convertible aircraft proprotors. The paper further discusses a dedicated wind tunnel campaign on proprotor off-axis load measurement. Experimental data from the test campaign was considered in model validation. The results suggested that the model was capable to accurately estimate proprotor performance in nominal flight regimes.
{"title":"Analytic Model of Proprotor Forces and Moments at High Incidence","authors":"Yuchen Leng, T. Jardin, J. Moschetta, M. Bronz","doi":"10.4050/jahs.66.042002","DOIUrl":"https://doi.org/10.4050/jahs.66.042002","url":null,"abstract":"The paper presents an analytical model for estimation of proprotor aerodynamic loads at elevated incidence angles. Previous theories have concentrated on either small incidence angle for aircraft stability analysis or edge-wise flow for helicopter forward flight. This development attempted an engineering method that covers the full incidence angle range from 0 to π/2. Blade element theory was applied to known proprotor geometry, and off-axis loads including normal force and in-plane moment were obtained in closed form based on thrust and torque in axial condition. The model was found to be sufficiently accurate over a broader flight conditions compared to classical models, and computationally more efficient than numerical methods. Hence it could be easily used as a preliminary design and analysis tool for future convertible aircraft proprotors. The paper further discusses a dedicated wind tunnel campaign on proprotor off-axis load measurement. Experimental data from the test campaign was considered in model validation. The results suggested that the model was capable to accurately estimate proprotor performance in nominal flight regimes.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"1 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70215930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Variable rotor speed technology implemented in a helicopter can improve the flight performance, reduce the required power, and increase the flight speed. However, variable rotor speed changes the frequencies of rotor vibratory loads and may produce helicopter fuselage resonance under the excitation of the rotor vibratory loads. Active vibration control (AVC) has been effectively used in vibration reduction of helicopter fuselages. However, the frequency domain control algorithms that are currently used have poor adaptability in controlling vibration with variable frequencies (i.e., during time varying rotor speeds). In order to effectively improve control convergence, adaptability, and effectiveness, the normalized adaptive hybrid control algorithms containing both the normalized adaptive harmonic control algorithm and the normalized frequency tracking algorithm have been presented in this paper. Simulations of AVC with variable frequencies on a dynamically similar frame structure of a helicopter fuselage driven by piezoelectric stack actuators installed on the gearbox support struts show that the normalized adaptive hybrid control algorithms can accurately track the changes in rotor load frequencies and can be effectively used in the AVC of a helicopter with variable rotor speed.
{"title":"Normalized Adaptive Hybrid Control Algorithms for Helicopter Vibration with Variable Rotor Speed","authors":"K. Lang, P. Xia, E. Smith, L. Shang","doi":"10.4050/jahs.67.022008","DOIUrl":"https://doi.org/10.4050/jahs.67.022008","url":null,"abstract":"Variable rotor speed technology implemented in a helicopter can improve the flight performance, reduce the required power, and increase the flight speed. However, variable rotor speed changes the frequencies of rotor vibratory loads and may produce helicopter fuselage resonance under the excitation of the rotor vibratory loads. Active vibration control (AVC) has been effectively used in vibration reduction of helicopter fuselages. However, the frequency domain control algorithms that are currently used have poor adaptability in controlling vibration with variable frequencies (i.e., during time varying rotor speeds). In order to effectively improve control convergence, adaptability, and effectiveness, the normalized adaptive hybrid control algorithms containing both the normalized adaptive harmonic control algorithm and the normalized frequency tracking algorithm have been presented in this paper. Simulations of AVC with variable frequencies on a dynamically similar frame structure of a helicopter fuselage driven by piezoelectric stack actuators installed on the gearbox support struts show that the normalized adaptive hybrid control algorithms can accurately track the changes in rotor load frequencies and can be effectively used in the AVC of a helicopter with variable rotor speed.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"1 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70217092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Stavros Vouros, I. Goulos, C. Scullion, D. Nalianda, V. Pachidis
Free-wake models are routinely used in aeroacoustic analysis of helicopter rotors; however, their semiempiricism is accompanied with uncertainty related to the modeling of physical wake parameters. In some cases, analysts have to resort to empirical adaption of these parameters based on previous experimental evidence. This paper investigates the impact of inherent uncertainty in wake aerodynamic modeling on the robustness of helicopter rotor aeroacoustic analysis. A free-wake aeroelastic rotor model is employed to predict high-resolution unsteady airloads, including blade–vortex interactions. A rotor aeroacoustics model, based on integral solutions of the Ffowcs Williams–Hawkings equation, is utilized to calculate aerodynamic noise in the time domain. The individual analytical models are incorporated into an uncertainty analysis numerical procedure, implemented through nonintrusive Polynomial Chaos expansion. The potential sources of uncertainty in wake tip-vortex core growth modeling are identified and their impact on noise predictions is systematically quantified. When experimental data to adjust the tip-vortex core model are not available the uncertainty in acoustic pressure and noise impact at observers dominated by blade–vortex interaction noise can reach up to 25% and 3.50 dB, respectively. A set of generalized uncertainty maps is derived, for use as modeling guidelines for aeroacoustic analysis in the absence of the robust evidence necessary for calibration of semiempirical vortex core models.
{"title":"Impact of Tip-Vortex Modeling Uncertainty on Helicopter Rotor Blade–Vortex Interaction Noise Prediction","authors":"Stavros Vouros, I. Goulos, C. Scullion, D. Nalianda, V. Pachidis","doi":"10.4050/jahs.66.012005","DOIUrl":"https://doi.org/10.4050/jahs.66.012005","url":null,"abstract":"Free-wake models are routinely used in aeroacoustic analysis of helicopter rotors; however, their semiempiricism is accompanied with uncertainty related to the modeling of physical wake parameters. In some cases, analysts have to resort to empirical adaption of these parameters based\u0000 on previous experimental evidence. This paper investigates the impact of inherent uncertainty in wake aerodynamic modeling on the robustness of helicopter rotor aeroacoustic analysis. A free-wake aeroelastic rotor model is employed to predict high-resolution unsteady airloads, including blade–vortex\u0000 interactions. A rotor aeroacoustics model, based on integral solutions of the Ffowcs Williams–Hawkings equation, is utilized to calculate aerodynamic noise in the time domain. The individual analytical models are incorporated into an uncertainty analysis numerical procedure, implemented\u0000 through nonintrusive Polynomial Chaos expansion. The potential sources of uncertainty in wake tip-vortex core growth modeling are identified and their impact on noise predictions is systematically quantified. When experimental data to adjust the tip-vortex core model are not available the\u0000 uncertainty in acoustic pressure and noise impact at observers dominated by blade–vortex interaction noise can reach up to 25% and 3.50 dB, respectively. A set of generalized uncertainty maps is derived, for use as modeling guidelines for aeroacoustic analysis in the absence of the robust\u0000 evidence necessary for calibration of semiempirical vortex core models.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":" ","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48943503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The traditional Lock number for lifting rotors is recast in terms of a different set of parameters. This new formulation, while not changing the basic definition of the Lock number, gives additional physical insight into the design variables that influence this number. The new formulation enables one to better understand why Lock numbers fall into the range they do. The fundamental basis of the Lock number is studied for 33 rotors, ranging in size from the main rotor of the CH-53E (with seven blades and a diameter of 79 ft) down to the tail rotor of the Robinson R22 Beta (with two blades and a diameter of 3.5 ft).
{"title":"How Big Is a Lock Number?","authors":"Cory Seidel, D. Peters","doi":"10.4050/jahs.66.012001","DOIUrl":"https://doi.org/10.4050/jahs.66.012001","url":null,"abstract":"The traditional Lock number for lifting rotors is recast in terms of a different set of parameters. This new formulation, while not changing the basic definition of the Lock number, gives additional physical insight into the design variables that influence this number. The new formulation\u0000 enables one to better understand why Lock numbers fall into the range they do. The fundamental basis of the Lock number is studied for 33 rotors, ranging in size from the main rotor of the CH-53E (with seven blades and a diameter of 79 ft) down to the tail rotor of the Robinson R22 Beta (with\u0000 two blades and a diameter of 3.5 ft).","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":" ","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49287699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Robotic landing gear enhances the landing capabilities of vertical take-off and landing aircraft on sloped, rough, and even moving landing surfaces. This research demonstrates the integration and systematic testing of a robotic landing gear system for the commercial S-100 Camcopter, expanding the aircraft’s landing capabilities to currently inaccessible terrains with slopes at and above 15°. An overview of the mechanical design, sensors, and controller as integrated into the S-100 rotorcraft is provided along with expected landing performance from simulations tools. The system is then demonstrated using ground and flight experiments, and performance metrics are found to match design metrics. An asymmetry in left and right leg landings during flight testing is observed and analyzed. Lastly, cross-coupling of pitch and roll rates induced by the rotor is discussed as a cause of the asymmetry on this three-legged rotorcraft.
{"title":"Ground and Flight Tests of an Unmanned Rotorcraft with Cable-Driven Robotic Landing Gear","authors":"Benjamin L. Leon, J. Rimoli, Claudio V. Di Leo","doi":"10.4050/jahs.66.042003","DOIUrl":"https://doi.org/10.4050/jahs.66.042003","url":null,"abstract":"Robotic landing gear enhances the landing capabilities of vertical take-off and landing aircraft on sloped, rough, and even moving landing surfaces. This research demonstrates the integration and systematic testing of a robotic landing gear system for the commercial S-100 Camcopter, expanding the aircraft’s landing capabilities to currently inaccessible terrains with slopes at and above 15°. An overview of the mechanical design, sensors, and controller as integrated into the S-100 rotorcraft is provided along with expected landing performance from simulations tools. The system is then demonstrated using ground and flight experiments, and performance metrics are found to match design metrics. An asymmetry in left and right leg landings during flight testing is observed and analyzed. Lastly, cross-coupling of pitch and roll rates induced by the rotor is discussed as a cause of the asymmetry on this three-legged rotorcraft.","PeriodicalId":50017,"journal":{"name":"Journal of the American Helicopter Society","volume":"1 1","pages":""},"PeriodicalIF":1.5,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"70216011","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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