• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.4
• /
• pp.369-377
• /
• 2005

This paper describes the realization of a coordinates tracking algorithm for an EOTS (Electro-Optical Tracking System). The EOTS stabilizes the image sensors, tracks targets automatically, and provides navigation capability for vehicles. The coordinates tracking algorithm calculates the azimuth and the elevation angle of an EOTS using the inertial navigation system and the attitude sensors of the vehicle, so that LOS designates the target coordinates which are generated by a Radar. In the error analysis, the unexpected behaviors of an EOTS due to the time delay and deadbeat of the digital signals of the vehicle equipments are anticipated and the countermeasures are suggested. The application of this algorithm to an EOTS will improve the operational capability by reducing the time which is required to find the target and support flight especially in the night time flight and the poor weather condition.

• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2470-2472
• /
• 2001

This paper describes the application of a fuzzy-tuning PID controller to a 3-DOF attitude control of a small model helicopter in hover for the compensation of coupling effects between each axis and system uncertainties due to the variation of engine RPM. A Low-level PID controller is designed by Ziegler-Nichols method and its gains are tuned by a high-level fuzzy system based on error states and its time derivatives. The experimental results show that the attitude control performance of fuzzy-tuning PID controller is improved comparing with that of a Ziegler-Nichols PID controller and fuzzy controller.

• International Journal of Quality Innovation
• /
• v.3 no.2
• /
• pp.13-28
• /
• 2002

Higher efficiency and effectiveness of Research & Development phases can be attained using advanced statistical methodologies. In this work statistical methodologies are combined with a deterministic approach to engineering design. In order to show the potentiality of such integration, a simple but effective example is presented. It concerns the problem of optimising the performances of a paper helicopter. The design of this simple device is not new in quality engineering literature and has been mainly used for educational purposes. Taking full advantage of fundamental engineering knowledge, an aerodynamic model is originally formulated in order to describe the flight of the helicopter. Screening experiments were necessary to get first estimates of model parameters. Subsequently, deterministic evaluations based on this model were necessary to set up further experimental phases needed to search (or a better design. Thanks to this integration of statistical and deterministic phases, a significant performance improvement is obtained. Moreover, the engineering knowledge かms out to be developed since an explanation of the “why” of better performances, although approximate, is achieved. The final design solution is robust in a broader sense, being both validated by experimental evidence and closely examined by engineering knowledge.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.4
• /
• pp.261-267
• /
• 2013

In this paper, wind tunnel test and analytical prediction are compared for result of flapping motion in helicopter forward flight condition. Tests were performed at low speed wind tunnel at Chungnam National University, test section of wind tunnel has 1.8 by 1.8 meter open-jet test section area. According to the results of measured data for aerodynamic performance of model rotor in forward flight. It has to observed the difference of analytical and measured results of power coefficient for fixed thrust coefficient. And calculated and measured data of helicopter rotor flapping angles in forward flight are compared for a model rotor in a wind tunnel. A test was conducted to verify the measured data of coning and lateral/longitudinal flapping angle with predicted values.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.6
• /
• pp.21-30
• /
• 2005

The aerodynamic analysis of helicopter rotor airfoils was performed to generate the basic data for selection and distribution of airfoils at the helicopter rotor blade preliminary design phase.10 airfoils were chosen among the existing rotor airfoils, and the tabulated aerodynamic coefficients which are proper for the aerodynamic analysis using blade element theory were generated. Considering analysis cost, the simple mathematical models were chosen before the wind tunnel test to generate the aerodynamic characteristic curves($C_{l},C_{m},C_{d}$) in full AoA range($-180^{o}\sim180^{o}$) including the reverse flow region. The essential data necessary to the generation of the complete curves were obtained by using the IBLM(Interactive Boundary Layer Method). The generated aerodynamic characteristic curves agree with experimental results qualitatively. Finally, the aerodynamic characteristics of all 10 airfoils were compared and classified according to their own lift or moment characteristics.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.16 no.3 s.108
• /
• pp.291-297
• /
• 2006

The BVI(blade vortex interaction) noise Prediction has been one of the most challenging acoustic analyses in helicopter aeromechanical Phenomenon. It is well known high resolution airloads data with accurate tip vortex positions are necessary for the accurate prediction of this phenomenon. The truly unsteady time-marching free-wake method, which is able to capture the tip vortices instability in hover and axial flights, is expanded with the rotor flapping motion and trim routine to predict unsteady airloads in forward and descent flights. And Farassat formulation 1-A based on the FW-H equation is applied for the noise prediction considering the blade flapping motion. Main objective of this study is to validate the newly developed prediction code. To achieve the objective, the descent flight condition of AH-1 OLS(operational loads survey) configuration is analyzed using present code. The predicted sectional thrust distribution and sectional airloads time histories show the present scheme is able to capture well the unsteady airloads caused by a parallel BVI. Finally, the predicted noise data, observed in two different positions where are 3.44 times of rotor radius far from the hub center, are quite reasonable agreements with the experimental data compared to the other analysis results.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.8
• /
• pp.56-64
• /
• 2005

It is prerequisite that we have to fomulate the nonlinear mathematical modeling to design the guidance and control system of rotorcraft-based unmanned aerial vehicle using a small-scaled commercial helicopter. The small-scaled helicopters are very different from the full-scale helicopters in dynamic behavior such as high rotation speed and high frequency dynamic characteristics. In this paper, the formulation of the mathematical model of the small-scaled helicopter to minimize the complexity is presented by component and source build-up approach. It is linearized at the trim condition of hovering and forward flight and analyzed the flight modes. The results of this approach have general trends but a little difference. To verify this approach, it is necessary to compare this theoretical model with experimental results by system identification using flight test as a next research topic.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.39 no.8
• /
• pp.751-758
• /
• 2015

Mathematical models are actively used to reduce the experimental expenses required to understand physical phenomena. However, they are different from real phenomena because of assumptions or uncertain parameters. In this study, we present a calibration and validation method using a paper helicopter and statistical methods to quantify the uncertainty. The data from the experiment using three nominally identical paper helicopters consist of different groups, and are used to calibrate the drag coefficient, which is an unknown input parameter in both analytical models. We predict the predicted fall time data using probability distributions. We validate the analysis models by comparing the predicted distribution and the experimental data distribution. Moreover, we quantify the uncertainty using the Markov Chain Monte Carlo method. In addition, we compare the manufacturing error and experimental error obtained from the fall-time data using Analysis of Variance. As a result, all of the paper helicopters are treated as one identical model.

• International Journal of Aeronautical and Space Sciences
• /
• v.12 no.2
• /
• pp.93-114
• /
• 2011

The current status of Canadian research on rotor-based actively controlled technologies for helicopters is reviewed in this paper. First, worldwide research in this field is overviewed to put Canadian research into context. Then, the unique hybrid control concept of Carleton University is described, along with its key element, the "stiffness control" concept. Next, the smart hybrid active rotor control system (SHARCS) projected's history and organization is presented, which aims to demonstrate the hybrid control concept in a wind tunnel test campaign. To support the activities of SHARCS, unique computational tools, novel experimental facilities and new know-how had to be developed in Canada, among them the state-of-the-art Carleton Whirl Tower facility or the ability to design and manufacture aeroelastically scaled helicopter rotors for wind tunnel testing. In the second half of the paper, details are provided on the current status of development on the three subsystems of SHARCS, i.e. that of the actively controlled tip, the actively controlled flap and the unique stiffness-control device, the active pitch link.

• 한국전산유체공학회:학술대회논문집
• /
• 2011.05a
• /
• pp.343-349
• /
• 2011

A loosely coupling method is adopted to combine a computational fluid dynamics (CFD) solver and the comprehensive structural dynamics (CSD) code, CAMRAD II, in a systematic manner to correlate the airloads, vortex trajectories, blade motions, and structural loads of the HART I rotor in descending flight condition. A three-dimensional compressible Navier-Stokes solver, KFLOW, using chimera overlapped grids has been used to simulate unsteady flow phenomena over helicopter rotor blades. The number of grids used in the CFD computation is about 24 million for the isolated rotor and about 37.6 million for the rotor-fuselage configuration while keeping the background grid spacing identical as 10% blade chord length. The prediction of blade airloads is compared with the experimental data. The current method predicts reasonably well the BVI phenomena of blade airloads. The vortices generated from the fuselage have an influence on airloads in the 1st and 4th quadrants of rotor disk. It appeared that presence of the pylon cylinder resulted in complex turbulent flow field behind the hub center.