Helicopter Model Research Articles

Modelling and dynamic analysis of a synchropter

This paper addresses the flight dynamics modelling, trim, and dynamic analysis of an intermeshing-rotor helicopter, indicated as synchropter. This configuration has gained a great interest for its suitability within heavy load lifting and transportation in extreme high temperature and altitude, and other harsh environments. The paper presents some relevant features related to synchropter's flight dynamics modelling of the interference between its two tilted main rotors. Trim results show the advantage of the synchropter in forward flight where the yawing moment is naturally balanced at almost all speeds and no lateral-directional compensation is needed. The synchropter's dynamic stability shows similarity to a conventional helicopter in the longitudinal phugoid. However, in the lateral phugoid, the synchropter is unstable at all flying speeds and therefore its vertical fin needs to be carefully designed.

Noise modeling of UAM around the urban vertiport

The present study aims to investigate the noise distribution around urban vertiport caused by UAM(Multicopter) and helicopter. Noise modelings were carried out using SoundPLAN software at the some vertiports in Seoul, Korea. Sound source model of UAM and helicopter were used as a form of hemisphere. Noise predictions were undertaken with three different operations including depart, level flight and landing. In order to evaluate the noise impact on the buildings around the vertiport, noise levels at the outer wall of nearby buildings were calculated as the three noise units including Leq, Lmax and Lden. Also, noise maps were drawn around the vertiport. As a result, it was found that average noise level of UAM is approximately 12 dB lower than the helicopter noise levels. Regarding the noise frequency distribution, most high noises are made at the mid-frequencies during landing hours while low frequency noise level around 63 Hz was dominant at take-off time.

Numerical investigation on the blade vortex interaction noise reduction using higher harmonic control

Accurately predicting the formation, evolution, and breakdown of helicopter blade tip vortex is crucial for simulating the Blade-Vortex Interaction (BVI) phenomenon. Firstly, the high-order Perturbed polynomial reconstructed Targeted Essentially Non-Oscillatory (TENO-P) scheme proposed by our research group is employed to improve the resolution of the helicopter rotor flowfield solver. The TENO-P scheme, building on the fifth-order TENO5 scheme, achieves one-order of accuracy improvement by adaptively adjusting the values of the free-parameter introduced by perturbed polynomial reconstruction. Subsequently, the AH-1 helicopter model rotor undergoing blade-vortex interaction is analyzed using the improved rotor flowfield solver and the Farassat-1A formula. The implementation of the TENO-P scheme notably enhances the resolution of the rotor flowfield solver in resolving the blade tip vortex structures, and the predicted noise results are in good agreement with the experimental data. Finally, the alteration of the BVI noise and its reduction mechanism of the AH-1 model rotor under different Higher Harmonic Controls (HHC) are analyzed. The findings show that the phase modulation margin increases with a decrease in harmonic order, and the noise reduction effect significantly improves as well. The negative component of the higher harmonic control is beneficial for reducing BVI noise while the positive component of the higher harmonic control exacerbates the BVI noise. The HHC reduces the collective pitch angle in the region where the tip vortex is about to be disturbed, decreasing the strength of the blade tip vortex in this region. This reduction weakens the strength of the parallel and near-parallel interaction on the advancing side, leads to the reduction of the positive peak impulsive of the BVI noise, and consequently lowers the intensity of the BVI noise.

Fault Detection on Short-Haul or Highly Dynamic Flights Using Transient Flight Segments

Abstract A machine learning-based approach is presented, which allows to detect persistent engine faults after a single flight. It utilizes transient in-flight measurements and a transient engine model. The time series of the residuals between the measured data and the data resulting from performance synthesis is evaluated using moving windows containing at least one transient segment. A continuous wavelet transformation and a pretrained convolutional neural network are utilized on the residuals for feature extraction. The fault detection is carried out via a one-class support vector machine, trained exclusively on nominal engine operation data. Therefore, the approach requires no a-priory knowledge of the effects of engine faults on the in-flight measurements. Under the assumption of persistent faults, all windows of a single flight, which contain at least one transient segment, are considered in order to improve the reliability of the fault detection. This approach is validated using measured data of a small helicopter engine that replicates the dynamic flight of the corresponding model helicopter on a ground test bed. Consequently, step changes as well as complex variations of the shaft power output are considered. Four standard gas path sensors are considered. The one-class support vector machine is used successfully to detect two types of total pressure sensor anomalies. Assuming a typical number of transient segments for an average short haul flight, it turns out that persistent faults can be detected within one flight with a probability of above 90%.

Modeling and control strategy of small unmanned helicopter rotation based on deep learning

Unmanned Aerial Vehicle (UAV) can serve as a substitute for workers in some hazardous environments, but the presence of ground effects makes UAVs prone to hardware damage during the recycling process. To study the rotation phenomenon of small UAV landing process and propose control strategy, the study completes the rotation modeling of small unmanned helicopter based on deep learning algorithm and proposes the control strategy. The results show that the CNN with ReLU function has the best performance, and the model converges in the 5th iteration with this function, while the model with Sigmoid function converges in the 36th iteration, and the fitting effect of the rotation model constructed by the study is higher than that of the traditional rotation model. The actual trajectory of the research-constructed rotation model starts to coincide with the expected trajectory at the 5th s of the landing process, while the actual trajectory of the Cheeseman-Bennett model starts to coincide with the expected trajectory only at the 26th s of the landing process. Under the control strategy model proposed in the study, the roll angle and pitch angle of UAV are stabilized at 46s, and the fluctuation of yaw angle is also minimal. The rotation model constructed in the study can completely reflect the rotation process of the small UAV, and the designed control system can help the UAV recover stability faster.

Development of a Mathematical Model of a Coaxial Compound Helicopter for Trimming and Stability Analysis

Development of a Mathematical Model of a Coaxial Compound Helicopter for Trimming and Stability Analysis

Oxygen accumulation and associated dangers in rescue helicopters

BackgroundAt the time of the COVID-19 pandemic, devastating incidents increased due to frequent oxygen administration to patients. The dangers associated with the use of oxygen, especially through local enrichments and formation of “oxygen clouds”, have been well understood for years. Nevertheless, dramatic incidents continue to occur, since fire hazard increases exponentially with oxygen concentrations above 23%. Rescue helicopters are at a particular high risk, because of technical reasons such as oxygen use in a very small space, surrounded by kerosene lines, electronic relays and extremely hot surfaces.MethodsIn this study three different sized rescue helicopter models (Airbus H135, H145 and MD902) were examined. Oxygen enrichment in the cabin was measured with an oxymeter during a delivery rate of 15 l/min constant flow for 60 min. Furthermore, the clearance of the enriched atmosphere was tested in different situations and with different ventilation methods. To make the airflow visible, a fog machine was used to fill the helicopter cabin.ResultsOxygen accumulation above 21% was detected in every helicopter. After 10–15 min, the critical 23% threshold was exceeded in all three aircrafts. The highest concentration was detected in the smallest machine (MD902) after 60 min with 27.4%. Moreover, oxygen clouds persisted in the rear and the bottom of the aircrafts, even when the front doors were opened. This was most pronounced in the largest aircraft, the H145 from Airbus Helicopters. Complete and rapid removal of elevated oxygen concentrations was achieved only by cross-ventilation within 1 min.ConclusionsOxygen should be handled with particular care in rescue helicopters. Adapted checklists and precautions can help to prevent oxygen accumulation, and thus, fatal incidents. To our knowledge, this is the first study, which analyzed oxygen concentrations in different settings in rescue helicopters.

Molten salt-mediated hierarchical porous carbon derived from biomass waste for high-performance capacitive storage

Biomass-derived carbon (BDC) materials are the suitable precursors for the fabrication of carbon electrodes of supercapacitors because of the sustainability, environmental friendliness, power capability, and structural diversity. The fabrication of BDC with low cost and excellent electrochemical properties is important for the practical applications of BDC in energy storage fields. Herein, ambrosia melon peels are used as carbon precursors for the fabrication of sustainable BDC electrodes through the molten salt-mediated pyrolysis procedure. The ambrosia melon peels-derived porous carbon (AMPPC) possesses high specific surface area of 529.9 m2 g−1. The AMPPC electrode shows the charge storage behavior of electrical double-layer capacitance with high ionic conductivity, high specific capacitance (218.3 F g−1 at 0.5 A g−1) and outstanding rate performance. In addition, the symmetric supercapacitor based on the AMPPC electrodes presents high specific energy density and specific power density (8 kW kg−1). It can be used as energy source to power helicopter model, clock, and calculator. Thus, the work gives an inspiration of design of BDC from the low-cost biomass waste and provides a simple way for the fabrication of BDC for the carbon electrodes of supercapacitors, lithium-ion batteries and so on.

Reduced-order helicopter model identification from closed-loop data

This paper presents the development of an algorithm for open-loop transfer functions identification and reduced-order modelling of a dynamical system, from closed-loop data with highly correlated inputs. Suitable for aeronautical applications (particularly for intrinsically unstable vehicles such as helicopters), it allows the identification of aircraft transfer functions from the knowledge of the time histories of arbitrary external inputs and the corresponding actuated controls and responses. After a numerical verification of the proposed approach considering a simple analytical aircraft dynamical system, it is successfully applied to a realistic engineering problem consisting of identifying the transfer functions of the AW-09 helicopter that relate pilot inputs to vehicle attitude and kinematics. It is shown that helicopter responses to arbitrary pilot inputs predicted by the reduced-order model representation of the helicopter dynamics based on the rational approximation of the identified transfer functions are in good agreement with those determined through the high-fidelity nonlinear flight dynamics solver used to evaluate the closed-loop database.

Particle Image Velocimetry Investigation Of The Aerodynamic Interaction Between Helicopter And An Aircraft Carrier

Helicopters greatly expand operational capabilities during military missions at the sea. The aircraft carriers are capable of accommodating fixed-wing and rotary-wing aircraft operations. They not only have one runway for take-off, but also have different spots for helicopter operations. As they are spread over the deck of the aircraft carrier, the non-aerodynamic geometries of the take-off ramp and the island can generate complex flows, with high velocity gradients and turbulence intensities that can make complex the helicopter landing and take-off maneuvers for pilots. This study analyses the interaction between the aerodynamic patterns generated by the warship and those generated during the operation of the helicopter. Two wind conditions are simulated: headwind and crosswind. The results are provided by a Particle Image Velocimetry (PIV) system installed at the wind tunnel test section of a low-speed wind tunnel. The model of aircraft carrier and helicopter are tested in a reduced scale of 1:100. And the helicopter rotor rotates at sufficient speed to ensure the similarity of the thrust coefficient with the real case. Finally, during the wind tunnel tests, using an automatic positioning system, the helicopter is placed in different positions above the aircraft carrier flight deck in order to obtain PIV images and extract non-dimensional velocity contours with and without the helicopter effect. The results have shown important effects of the aerodynamics generated by the bow, the hull and the aircraft carrier island, with velocity differences up to 70 % depending on the landing spot analyzed.

Deformable-boundary integral formulation for the solution of arbitrarily-forced acoustic wave equation

The propagation of perturbations in fluids is governed by an acoustic wave equation. This paper, first, introduces an arbitrarily-forced wave equation which, properly adapted, gives rise to equations describing specific phenomena of signal perturbation propagation in fluids (like, for instance, the Lighthill and Ffowcs-Williams and Hawkings equations for radiation and scattering). Then, its solution is determined through a novel boundary integral formulation based on the free-space Green function, which is applicable to fluid domains bounded by solid or porous deformable surfaces. Different versions of the proposed boundary integral formulation can be derived, depending on the frame of reference in which they are expressed. The numerical investigation begins with the comparison of the results obtained by the presented formulation against analytical solutions concerning both a pulsating solid sphere and a deformable porous surface that encloses pulsating sources. Then, the equivalence of the formulations expressed in different frames is examined for a bending and twisting non-lifting wing translating at different Mach numbers. Finally, the aeroacoustic field generated by a helicopter rotor model in forward flight is examined to assess the effect of the body deformation on the radiated noise and the accuracy of the numerical simulations by comparison with experimental data. The results of the numerical investigation have provided a comprehensive validation of the deformable-boundary integral formulation presented for the analysis of wave propagation in fluids, and confirmed its capability to study problems of engineering interest.

Constrained path planning for manned–unmanned rotorcraft teaming in emergency medical service missions

This paper investigates the path-planning problem applied to an innovative Unmanned Air Vehicle teaming with a helicopter to increase safety during Helicopter Emergency Medical Services operations. The unmanned vehicle, a drone that optionally can be launched from the helicopter, has the mission to explore the area of operation to determine the meteorological and environmental conditions and to detect physical obstacles. It is initially found that the combination of probabilistically optimal Rapidly-exploring Random Tree (RRT∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$^{*}$$\\end{document}) as the global planner and of Bidirectional Rapidly-exploring Random Tree (BiRRT) as the local planner provides a nearly optimal global path and a rapid replanning in case new obstacles are detected. Adopting a Savitzky–Golay filter in an optional post-processing phase enables trajectory smoothing, thus improving its practicability. The feasibility of the identified trajectory for a rigid-body helicopter model is assessed by computing a first estimate of attitude, forces, control inputs, and rotor power from the trajectory points and curvature. This assessment shows that the RRT∗\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$^{*}$$\\end{document} used as a local planner provides replanned trajectories more feasible than BiRRT with comparable computational times.

Incremental fully actuated system approach-based prescribed-time fault-tolerant formation control of helicopters under multiple faults

Helicopter formation is characterized by intricate dynamics, complex mechanics, and challenging scenarios, raising the necessity for agile, robust, and convenient controller design. This paper explores the prescribed-time fault-tolerant formation control of multiple helicopters through the incremental fully actuated system approach, which addresses multiple faults in sensors and swash plate struts. First, the helicopter model encompassing aerodynamic, flapping dynamic, swash plate dynamic, actuator faults, and sensor faults is established and further partitioned into attitude and position subsystems. Then, in the attitude subsystem, a prescribed-time attitude controller based on the incremental fully actuated system approach is proposed to track the desired attitude with robustness against actuator faults, aerodynamic drags, inter-axis coupling, and non-linearity. Next, in the position subsystem, the faults of velocity and position sensors are estimated and compensated through the prescribed-time fault-estimation observer, and a prescribed-time formation controller through the incremental fully actuated system approach is designed to achieve distributed leader-follower formation control. A Task-Fault dual-driven scheduling mechanism of the parameters of the prescribed-time technique is developed to promptly activate the prescribed-time function, and the control scheme is proven to be prescribed-time convergent via Lyapunov stability theory. Finally, numerical simulations are conducted to illustrate the efficiency of the algorithm.

Exponential-form predefined-time convergent controller and its applications to Van-der-Pol system and 2-DOF helicopter

This paper proposes a predefined-time convergent stabilization controller for a class of nonlinear systems. First, a controller is introduced for linear systems where the convergent time is selected in advance, independent of initial conditions, and can be assigned as a parameter of a control input. The corresponding result is then obtained for a multidimensional system consisting of [Formula: see text] nonlinear differential equations. The block control technique is employed to consequently stabilize each state component by a virtual control until the real control appears. Finally, the presented result is applied to a multivariable nonlinear system to design a predefined-time convergent robust controller. To show effectiveness of the proposed convergent controller, numerical simulations have been carried out for a Van-der-Pol system and a 2-degree-of-freedom (2-DOF) helicopter model.

Situation Awareness of Mars helicopter based on YOLOv7

Situation awareness on Mars is indispensable for various downstream applications such as navigation and path planning, mapping and scientific discover. However, current Mars rover platform suffered from the absence of global information, leading to mission reduction and the failure of global planning. Compared to the rover, Mars helicopter is a new type of attempt for Mars exploration, which can provide a wide range view of scenes to well support the above missions. To this end, in this paper we proposed a novel learning-based situation awareness model for Mars helicopter. We modified the Yolov7 model by embedding a new channel attention on its head to improve the accuracy of detection. Besides, we designed a Tiny-Scale Detection Module (TSDM) to capture small or hidden rocks in complex Martian surface. To achieve further refinement and validate our proposal, we built an open-source synthetic dataset in air view. After extensive experiments, our model achieved excellent outperforms than the baseline model in our Mars dataset.

Numerical simulation of the effect of helicopter flight advance ratio and lift rate on rotor aerodynamic noise

To study the aerodynamic noise characteristics of helicopter rotors under different flight states, this paper combined with the FW-H calculation equation, adopted NACA0012 airfoil and ROBIN fuselage to form a helicopter model and used FLUENT software to simulate different flight states of the helicopter. The influence of the two flight parameters, advance ratios, and lift rates, on the aerodynamic noise characteristics of the rotor, is studied. The results show that with the increase of helicopter advance ratio, the aerodynamic noise generated by the rotor becomes larger, and the effect of helicopter lift rate on the aerodynamic noise of the rotor is not obvious.

Linearized Models of the Coupled Rotorcraft Flight Dynamics and Acoustics for Real-Time Noise Prediction

This article demonstrates the linearization of the coupled rotorcraft flight dynamics and aeroacoustics to provide realtime acoustic predictions in generalized maneuvering flight. To demonstrate the methodology, the study makes use of a nonlinear simulation model of a generic utility helicopter (PSUHeloSim) that is coupled with an aeroacoustic solver based on a marching cubes algorithm. A periodic equilibrium of the coupled rotorcraft flight dynamics and acoustics is first found at a desired flight condition using a modified harmonic balance trim solution method. Next, the nonlinear time-periodic dynamics are linearized about that periodic equilibrium and transformed into an equivalent higher order linear time-invariant system in harmonic decomposition form. Composite aeroacoustic measures are included as an output of this system. To speed up runtime and make control design tractable, the order of these harmonic decomposition models is reduced via residualization to an 8-state model where the states are representative of the rigid-body dynamics of the aircraft. This 8-state model is shown to provide accurate acoustic response predictions for small-amplitude pilot inputs and to abate runtime by a factor of approximately 104, thus enabling acoustic predictions in generalized maneuvering flight that are significantly faster than real time. The 8-state model is subsequently used to demonstrate the use of linear system tools for the dynamic analysis of the coupled rotorcraft flight dynamics and acoustics.

LTI/LQE: A Physics-Based Approach for Online Estimation of Dynamic Loads in the Rotating Frame

Accurate and online load monitoring of vital components located in the rotor system is important for not only inferring usage and estimating fatigue in those components but also for developing load alleviation/limiting control schemes. In the literature, on-board models for online (i.e., real-time) estimation of rotor component loads using available in-flight aircraft fixed-frame measurements are developed using neural networks, a statistical-based approach, or a combination of both. These models are aircraft-specific, do not capture the higher harmonic dynamics of the rotor system vibratory loads, and their synthesis requires obtaining a lot of data. To remedy these issues, this paper introduces a purely physics-based approach to online estimation of rotor system loads. The proposed approach can be applied to any rotary-wing vehicle, does not rely on a large amount of data, and captures the higher harmonic dynamics of the rotor system vibratory loads. The developed model entitled LTI/LQE is synthesized using a linear time invariant (LTI) model of helicopter-coupled body-rotor-inflow dynamics and a linear quadratic estimator (LQE), that is designed to correct the LTI model state response using fixed system measurements. The estimation fidelity of the LTI/LQE model is evaluated in simulation using a high-fidelity nonlinear model of a generic helicopter for online prediction of rotor blade pitch link loads arising from vehicle maneuvers. Results obtained using the LTI/LQE model revealed an interesting finding. It was found that the N/rev (where N is the number of blades) fixed system load measurements have information that can be leveraged to make an inference about the N/rev dynamic loads in the rotating system.

High-efficiency prediction method for helicopter global/ground noise based on near-field acoustic holography

Noise reduction program design is an effective approach that relies on efficient noise prediction for reducing ground noise during flight. The existing noise prediction methods have the limitations of being computationally expensive or only applicable to far-fields. In this paper, a High-Efficiency Prediction Method (HEPM) for helicopter global/ground noise based on near-field acoustic holography is proposed. The HEPM can predict the global noise based on acoustic modal analysis and has the advantages of high prediction accuracy and low time cost. The process is given as follows: firstly, the rotor noise on the holographic surface in the specified flight is obtained by simulations or experiments. Secondly, the global noise model, which maps time-domain noise to acoustic modes, is established based on near-field acoustic holography and Fourier acoustic analysis methods. Finally, combined with acoustic modal amplitude, the model established enables efficiently predicting the global/ground noise in the corresponding flight state. To verify the accuracy of the prediction method, a simulation study is conducted in hovering and forward flight states using a model helicopter with a 2-meter rotor and Rotor Body Interaction (ROBIN) fuselage. The comparison of HEPM with numerical results shows that the average prediction errors of the global and ground noise are less than 0.3 dB and 0.2 dB, respectively. For a region containing 100000 observers, the computation time of the HEPM is only one-fifth of that of the acoustic hemisphere method, demonstrating the rapidity of the proposed method.

Learning-based modeling and control design for a coaxial helicopter with aerodynamic coupling

In this paper, a mathematical model of a coaxial helicopter with a new configuration is successfully constructed using the learning-based method. This nonlinear model can reflect the aerodynamic coupling characteristics between the two rotors of the coaxial helicopter. Compared with the traditional polynomial fitting method, this method significantly improves the integrity and robustness of the mathematical model. After multiple tune of the aircraft, we successfully completed the stable flight experiment using the designed attitude controller. By analyzing the real-time flight log, we verify the high accuracy of the coupled model trained on neural networks. The results of this research have brought important enlightenment to the field of aircraft design and control and proved the great potential of neural network in improving the accuracy of aircraft model and control efficiency.