Propeller-induced Flow Research Articles

Rotary-wing drone-induced flow – comparison of simulations with lidar measurements

Abstract. Ultrasonic anemometers mounted on rotary-wing drones have the potential to provide a cost-efficient alternative to the classical meteorological mast-mounted counterpart for atmospheric boundary layer research. However, the propeller-induced flow may degrade the accuracy of free-stream wind velocity measurements by wind sensors mounted on drones – a fact that needs to be investigated for optimal sensor placement. Computational fluid dynamics (CFD) simulations are an alternative to experiments for studying characteristics of the propeller-induced flow but require validation. Therefore, we performed an experiment using three short-range continuous-wave Doppler lidars (light detection and ranging; DTU WindScanners) to measure the complex and turbulent three-dimensional wind field around a hovering drone at low ambient wind speeds. Good agreement is found between experimental results and those obtained using CFD simulations under similar conditions. Both methods conclude that the disturbance zone (defined as a relative deviation from the mean free-stream velocity by more than 1 %) on a horizontal plane located at 1 D (rotor diameter D of 0.71 m) below the drone extends about 2.8 D upstream from the drone center for the horizontal wind velocity and more than 7 D for the vertical wind velocity. By comparing wind velocities along horizontal lines in the upstream direction, we find that the velocity difference between the two methods is ≤ 0.1 m s−1 (less than a 4 % difference relative to the free-stream velocity) in most cases. Both the plane and line scan results validate the reliability of the simulations. Furthermore, simulations of flow patterns in a vertical plane at the ambient speed of 1.3 m s−1 indicate that it is difficult to accurately measure the vertical wind component with less than a 1 % distortion using drone-mounted sonic anemometers.

Experimental Characterization of Propeller-Induced Flow (PIF) below a Multi-Rotor UAV

The availability of multi-rotor UAVs with lifting capacities of several kilograms allows for a new paradigm in atmospheric measurement techniques, i.e., the integration of research-grade sonic anemometers for airborne turbulence measurements. With their ability to hover and move very slowly, this approach yields unrevealed flexibility compared to mast-based sonic anemometers for a wide range of boundary layer investigations that require an accurate characterization of the turbulent flow. For an optimized sensor placement, potential disturbances by the propeller-induced flow (PIF) must be considered. The PIF characterization can be done by CFD simulations, which, however, require validation. For this purpose, we conducted an experiment to map the PIF below a multi-rotor drone using a mobile array of five sonic anemometers. To achieve measurements in a controlled environment, the drone was mounted inside a hall at a 90° angle to its usual flying orientation, thus leading to the development of a horizontal downwash, which is not subject to a pronounced ground effect. The resulting dataset maps the PIF parallel to the rotor plane from two rotor diameters, beneath, to 10 D, and perpendicular to the rotor plane from the center line of the downwash to a distance of 3 D. This measurement strategy resulted in a detailed three-dimensional picture of the downwash below the drone in high spatial resolution. The experimental results show that the PIF quickly decreases with increasing distance from the centerline of the downwash in the direction perpendicular to the rotor plane. At a distance of 1 D from the centerline, the PIF reduced to less than 4 ms−1 within the first 5 D beneath the drone, and no conclusive disturbance was measured at 2 D out from the centerline. A PIF greater than 4 ms−1 was still observed along the center of the downwash at a distance of 10 D for both throttle settings tested (35% and 45%). Within the first 4 D under the rotor plane, flow convergence towards the center of the downwash was measured before changing to diverging, causing the downwash to expand. This coincides with the transition from the four individual downwash cores into a single one. The turbulent velocity fluctuations within the downwash were found to be largest towards the edges, where the shear between the PIF and the stagnant surrounding air is the largest.

Propeller-Induced Jet Impact on Vegetated Flow Fields: Complex Coupled Effect towards the Velocity Profile

The failure of swirling ship propellers in marine environments can lead to huge repair costs. One of the main causes of such failure is when propellers tangle with vegetation, especially in shallow flow environments like ports, harbours, or shipyards. In order to understand the above-mentioned issue, this study proposes an analytical approach to explore efficient predictions and provide a flow guideline with respect to the co-existence of vegetation and propeller swirling effects. More specifically, we intend to investigate the full-depth theoretical velocity profile to represent propeller-induced flow under submerged vegetation conditions. This paper first investigates the modified logarithmic law approach to determine its suitability to represent the regional vegetated flow zone before implementing it into a three-layer analytical model. It was found, using the benchmark of literature measurements, that the modified log law improved the near-bed velocity calculation by nearly 70% when compared to an existing model. A propeller jet impact computation coupled into the vegetation analytical model was then investigated in different locations within the vegetated flow, i.e., at free-flow, water–vegetation interface, and vegetation-hindered zones, to study their complex velocity distribution patterns. The results demonstrate adequate validation with the vegetated flow and measured propeller jet data from the literature. This proves the potential of the proposed analytical approach in representing a real-world propeller jet event submerged in water flow with the existence of vegetation. The proposed novel method allows costless computation, i.e., as compared to conventional numerical models, in representing the complex interaction of the propeller jet and vegetated flow.

Flow Structure around a Multicopter Drone: A Computational Fluid Dynamics Analysis for Sensor Placement Considerations

This study presents a computational fluid dynamics (CFD) based approach to determine the optimal positioning for an atmospheric turbulence sensor on a rotary-wing uncrewed aerial vehicle (UAV) with X8 configuration. The vertical (zBF) and horizontal (xBF) distances of the sensor to the UAV center to reduce the effect of the propeller-induced flow are investigated by CFD simulations based on the k−ϵ turbulence model and the actuator disc theory. To ensure a realistic geometric design of the simulations, the tilt angles of a test UAV in flight were measured by flying the drone along a fixed pattern at different constant ground speeds. Based on those measurement results, a corresponding geometry domain was generated for the CFD simulations. Specific emphasis was given to the mesh construction followed by a sensitivity study on the mesh resolution to find a compromise between acceptable simulation accuracy and available computational resources. The final CFD simulations (twelve in total) were performed for four inflow conditions (2.5 m s−1, 5 m s−1, 7.5 m s−1 and 10 m s−1) and three payload configurations (15 kg, 20 kg and 25 kg) of the UAV. The results depend on the inflows and show that the most efficient way to reduce the influence of the propeller-induced flow is mounting the sensor upwind, pointing along the incoming flow direction at xBF varying between 0.46 and 1.66 D, and under the mean plane of the rotors at zBF between 0.01 and 0.7 D. Finally, results are then applied to the possible real-case scenario of a Foxtech D130 carrying a CSAT3B ultrasonic anemometer, that aims to sample wind with mean flows higher than 5 m s−1. The authors propose xBF=1.7 m and zBF=20 cm below the mean rotor plane as a feasible compromise between propeller-induced flow reduction and safety. These results will be used to improve the design of a novel drone-based atmospheric turbulence measurement system, which aims to combine accurate wind and turbulence measurements by a research-grade ultrasonic anemometer with the high mobility and flexibility of UAVs as sensor carriers.

Propeller Slipstream Effect on Aerodynamic Characteristics of Micro Air Vehicle at Low Reynolds Number

A numerical investigation on propeller-induced flow effects in tractor configurations on a Zimmerman wing-fuselage using the cambered thin airfoil is presented in this paper. The Reynolds number based on the mean aerodynamic chord was 1.3 × 105. Significant aerodynamic performance benefits could be found for a propeller in the tractor configuration. The numerical results showed that the propeller slipstream effect on the wings was highly dependent on the size of the propeller, and the major slipstream effect was working at 60% inboard wingspan, whereas less effects were observed towards the wingtip. The propeller slipstream increased the local angle of attack on the up-going blade side. This effect simultaneously augmented the section lift. The unsteady Reynolds-averaged Navier–Stokes (URANS) simulations helped to improve understanding of the interaction of the propeller wake and the wing-fuselage, which is an important aspect to guide the design of future efficient and controllable micro air vehicles. The results indicated that, in MAV designs, the slipstream from the propeller had a significant effect on the wing aerodynamics, regarding both performance and stability of the vehicle.

Towards accurate and practical drone-based wind measurements with an ultrasonic anemometer

Abstract. Wind data collection in the atmospheric boundary layer benefits from short-term wind speed measurements using unmanned aerial vehicles. Fixed-wing and rotary-wing devices with diverse anemometer technology have been used in the past to provide such data, but the accuracy still has the potential to be increased. A lightweight drone for carrying an industry-standard precision sonic anemometer was developed. Accuracy tests have been performed with the isolated anemometer at high tilt angles in a calibration wind tunnel, with the drone flying in a large wind tunnel and with the full system flying at different heights next to a bistatic lidar reference. The propeller-induced flow deflects the air to some extent, but this effect is compensated effectively. The data fusion shows a substantial reduction of crosstalk (factor of 13) between ground speed and wind speed. When compared with the bistatic lidar in very turbulent conditions, with a 10 s averaging interval and with the unmanned aerial vehicle (UAV) constantly circling around the measurement volume of the lidar reference, wind speed measurements have a bias between −2.0 % and 4.2 % (root-mean-square error (RMSE) of 4.3 % to 15.5 %), vertical wind speed bias is between −0.05 and 0.07 m s−1 (RMSE of 0.15 to 0.4 m s−1), elevation bias is between −1 and 0.7∘ (RMSE of 1.2 to 6.3∘), and azimuth bias is between −2.6 and 7.2∘ (RMSE of 2.6 to 8.0∘). Key requirements for good accuracy under challenging and dynamic conditions are the use of a full-size sonic anemometer, a large distance between anemometer and propellers, and a suitable algorithm for reducing the effect of propeller-induced flow. The system was finally flown in the wake of a wind turbine, successfully measuring the spatial velocity deficit and downwash distribution during forward flight, yielding results that are in very close agreement to lidar measurements and the theoretical distribution. We believe that the results presented in this paper can provide important information for designing flying systems for precise air speed measurements either for short duration at multiple locations (battery powered) or for long duration at a single location (power supplied via cable). UAVs that are able to accurately measure three-dimensional wind might be used as a cost-effective and flexible addition to measurement masts and lidar scans.

Experimental Investigation of Propeller Induced Flow on Flying Wing Micro Aerial Vehicle for Improved 6DOF Modeling

In this research effect of propeller induced flow on aerodynamic characteristics of low aspect ratio flying wing micro aerial vehicle has been investigated experimentally in subsonic wind tunnel. Left turning tendencies of right-handed propellers have been discussed in literature, but not much work has been done to quantify them. In this research, we have quantified these tendencies as a change in aerodynamic coefficient with a change in advance ratio at a longitudinal trim angle of attack using subsonic wind tunnel. For experimental testing, three fixed pitch propeller diameters (5 inch, 6 inch and 7 inch), three propeller rotational speeds (7800, 10800 and 12300 RPMs) and three wind tunnel speeds (10, 15 and 20 m/s) have been considered to form up 27 advance ratios. Additionally, wind tunnel tests of 9 wind mill cases were conducted and considered as baseline. Experimental uncertainty assessment for measurement of forces and moments was carried out before conduct of wind tunnel tests. Large variation in lift, drag, yawing moment and rolling moment was captured at low advance ratios, which indicated their significance at high propeller rotational speeds and large propeller diameters. Side force and pitching moment did not reflect any significant change. L/D at trim point was found a nonlinear function of propeller diameter to wingspan ratio D/b, and propeller rotational speed. Rate and control derivatives were obtained using unsteady vortex lattice method with propeller induced flow effect modeled by Helical Vortex Modeling approach. In this research, we have proposed improved 6-DOF equations of motion, with a contribution of advance ratio J. It is concluded, that propeller induced flow effects have a significant contribution in flight dynamic modeling for vehicles with large propeller diameter to wingspan ratio, D/b of 22% or more.

Effect of propeller-induced flow on the performance of biplane micro air vehicle dynamics

This paper presents the analysis of propeller-induced flow effects on the dynamics of a fixed wing biplane micro air vehicle. The analysis is based on wind tunnel tests and mathematical modeling. This analysis plays a pivotal role because the propeller-induced flow has significant effects on the dynamics of fixed wing micro air vehicle due to submergence of a large portion of the wing in propeller slipstream. Although the effect of the propeller-induced flow on the various aerodynamic parameter is reported in the literature; however, its effects on overall forces, moments and vehicle dynamics are not quantified so far. In this paper, propeller-induced flow effects are modeled as a function of motor rotation speed and mathematical analysis is performed to quantify their effects. The wind tunnel test is conducted at different propeller speeds on a biplane micro air vehicle “Skylark”, having wingspan and chord length of 150 mm and 140 mm, respectively. Analysis of results shows that the propeller slipstream increases the overall lift, drag, side force, range, and endurance significantly. Propeller flow also contributes to the rolling moment and the pitching moment, while it has negligible effects on the yawing moment. It is shown that the trim angle of attack is lower when the propeller flow is considered in computing the trim conditions.

Vortex Evolution within Propeller Induced Scour Hole around a Vertical Quay Wall

This paper presents an experimental study on the characteristics of the propeller-induced flow field and its associated scour hole around a closed type quay (with a vertical quay wall). An “oblique particle image velocimetry” (OPIV) technique, which allows a concurrent measurement of the velocity field and scour profile, was employed in measuring the streamwise flow field (jet central plane) and the longitudinal centerline scour profile. The asymptotic scour profiles obtained in this study were compared with that induced by an unconfined propeller jet in the absence of any berthing structure, which demonstrates the critical role of the presence of the quay wall as an obstacle in shaping the scour profile under the condition of different wall clearances (i.e., longitudinal distance between propeller and wall). Moreover, by comparing the vortical structure within the asymptotic scour hole around the vertical quay wall with its counterpart in the case of an open quay (with a slope quay wall), the paper examines the effect of quay types on the formation of the vortex system and how it determines the geometrical characteristic of the final scour profile. Furthermore, the temporal development of the mean vorticity field and the vortex system are discussed in terms of their implications on the evolution of the scour hole. In particular, comparison of the circulation development of the observed vortices allows a better understanding of the vortex scouring mechanism. Energy spectra analysis reveals that at the vortex centers, their energy spectra distributions consistently follow the −5/3 law throughout the entire scouring process. As the scour process evolves, the turbulent energy associated with the near-bed vortex, which is responsible for scouring, is gradually reduced, especially for the small-scale eddies, indicating a contribution of the dissipated turbulent energy in excavating the scour hole. Finally, a comparison of the near-bed flow characteristics of the average kinetic energy (AKE), turbulent kinetic energy (TKE), and Reynolds shear stress (RSS) are also discussed in terms of their implications for the scour hole development.

Experiments of Propeller-Induced Flow Effects on a Low-Reynolds-Number Wing

Novel findings are discussed in this paper that will be especially beneficial to designers and modelers of small-scale unmanned air vehicles and high-altitude long-endurance vehicles that both operate at low Reynolds numbers (). Propeller-induced flow effects in both tractor and pusher configurations on a rectangular wing using the Wortmann FX 63-137 airfoil (a common low-Reynolds-number high-lift airfoil) are presented in this paper. Significant performance benefits can be found for a wing in the tractor configuration. Experiments, including trip tests and upper-surface oil flow visualization, show and verify that the propeller slipstream induces early transition to turbulent flow in the regions within the slipstream and the premature formation of a separation bubble in the regions outside the slipstream. The result is a reduction of pressure drag and an increase in lift of the wing where lift-to-drag ratios are as high as 10–12 (a maximum of 70% increase in lift-to-drag ratio from a clean wing configuration) and are measured at both low and high angles of attack up to stall (0–16 deg). Similar performance benefits are not observed in pusher configuration results where only increased local flow velocity and varying inflow angle effects are apparent. Thus, contrary to the design rules for optimal performance of wings at high Reynolds numbers, at low Reynolds numbers, a propeller in the tractor configuration exhibits significant performance improvements, especially in cruise configurations (low angles of attack), as compared with a propeller in the pusher configuration or even a clean wing.

Sound source positioning using microphone array installed on a flying drone

This study presents an application of acoustic source localization using microphone array installed on a drone. Although recent technology of drone enables to record audio and video, there are still acoustic problems such as engine noise, propeller-induced flow noise, microphone directivity, etc. Such unwanted noise shows strong tonal characteristics with broad band noise contents. To acquire usable acoustic signal from array measurements while a drone is flying, we implemented acoustic signal conditioning and array processing. The approach to the problem is to adapt beamforming and TDOA techniques that provide localization capability of multiple sources and the position or direction of arrival of source, respectively. The array configuration and angle resolution are adjusted depending on the application requirements. We limit our attention to stable hovering condition to rule out position and heading error occurred by the drone motion. The experimental results of position estimation under a various noise conditions are discussed in the study.

A computation study on the aerodynamic influence of interaction wing-propeller for a tilt-body MAV

Purpose – The purpose of this paper is to investigate the influence of a propeller slipstream on the aerodynamic characteristics of a fixed-wing micro air vehicle (MAV) by simplifying a propeller to an actuator disk and an actuator volume. Design/methodology/approach – A computational fluid dynamic (CFD) approach. Findings – The simulation flows are found and show that the propeller slipstream changes the flow field around the wing, which improves the aerodynamic performance of the wing. The aerodynamic performance is improved first, when the separation of the boundary flow at the upper surface wing is delayed. Second, the flow region of the boundary layer is boosted close to the wing surface again at a high incidence angle. And finally, the velocity inlet of the wing is increased by the propeller-induced flow. Research limitations/implications – The incidence angle is in the range of 0-80°with an increment of 20°. The free stream velocity and RPM used are 6 m/s and 5,000 rpm, respectively. Originality/va...

Experimental Investigation of Lift and Drag Characteristics of a Typical MAV under Propeller Induced Flow

Experiments were conducted on a micro air vehicle (MAV) model in a low speed wind tunnel to study the actual lift and drag experienced by the model under propeller induced flow by separating out the thrust force generated by the propeller by decoupling the motor-propeller from the model and mounting it on a second arrangement with minimal flow interference. Tests were conducted on the model at actual flight conditions – at a freestream velocity of 9 m/s (Re = 135000 based on root chord) with the propeller running at speeds ranging from 8000 to 10000 rpm. The lift and drag coefficients obtained from the model with decoupled motor-propeller arrangement are compared to those obtained from the model with attached motor-propeller for the same test conditions and justification is made in favor of the former method. Effects of propeller induced flow with respect to an increase in propeller rpm on the lift and drag characteristics of the model were also studied. Higher CL at higher angle of attack and increased CD were observed for the model under propeller induced flow. With an increase in propeller rpm, the effects seen in CL and CD are increased further.