• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.23-32
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• 2005

An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.

• International Journal of Aeronautical and Space Sciences
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• 제17권1호
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• pp.54-63
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• 2016

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and design of stability and controllability augmentation system (SCAS) are addressed rigorously in this paper. In order to compare the developed control scheme to a conventional control method, a nonlinear numerical simulation has been performed and the attitude tracking performance has been compared between the two methods considering the single and multiple rotor faults cases. The developed control scheme shows superior stability and robust controllability of a hexacopter that is subjected to one or multiple rotor faults and external disturbance, i.e., wind shear, gust, and turbulence.

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1583-1593
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• 2002

This paper discusses the model validation and vibration suppression of an AMB flexible rotor via additional LQG controller. The main difficulty in the vibration suppression of the flexible rotor using AMB is to realize a controller that can minimize resonance without injuring the stabilized rigid modes. In order to solve this problem, simple scheme for system modeling and controller design are developed. Firstly, the AMB flexible rotor is stabilized with a PID controller, which leads to a new stable rotor-bearing system. Then, authors propose the model validation procedure using measured open-loop frequency responses to obtain an accurate model of the AMB flexible rotor system. After that, LQG controller with modal weighting is designed to suppress resonances of the stable rotor-bearing system. Due to the poor controllability and observability of flexible modes compared to rigid ones, balancing of two Gramians is prerequisite for the fair LQG controller design. Simulation with step disturbance and experimental results of unbalance response up to 10,000 rpm verified the effectiveness of the proposed scheme.

• 소음진동
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• 제11권2호
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• pp.336-345
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• 2001

This research presents a nonlinear model to analyze the ball bearing nitration due to the waviness in a rigid rotor supported by multi-row ball bearings. The waviness of a ball and each races is modeled by the superposition of sinusoidal function, and the position vectors of inner and outer groove radius center are defined with respect to the mass center of the rotor in order to consider five degrees of freedom of a general rotor-bearing system. The waviness of a ball bearing is introduced to these position vectors to use the Hertzian contact theory in order to calculate the elastic deflection and nonlinear contact force resulting from the waviness while the rotor has translational and angular motion. They can be determined by solving the nonlinear equations of motion with five degrees of freedom by using the Runge-Kutta-Fehlberg algorithm. Numerical results of this research are validated with those of prior researchers. The proposed model can calculate the translational displacement as well as the angular displacement of the rotor supported by the multi-row ball bearings with waviness. It also characterizes the nitration frequencies resulting from the various kinds of waviness in rolling elements, the harmonic frequencies resulting from the nonlinear load-deflection characteristics of ball bearing. and the sideband frequencies resulting from the waviness interaction.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2013년도 춘계학술대회 논문집
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• pp.340-346
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• 2013

This paper describes a helicopter vibration induced by main rotor in forward flight. The hub loads in the fixed frame, which are dominant source of helicopter vibration, are obtained by multi-blade summation of rotating blades loadings. The components of 3/rev, 4/rev, and 5/rev blades loadings are transmitted by blades to 4/rev hub loads in the fixed frame. The vertical vibrations of helicopter at pilot seat and copilot seat are calculated through rigid body transfer functions considering airframe to be rigid body. The blades are assumed to be elastic and undergo the flap, lag, and torsion motion and free wake aerodynamic model is used to calculate the precise blade loadings in the analysis. The 4/rev vertical vibration responses are analyzed from rotating blade loadings and fixed hub loadings.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.773-777
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• 1994

This paper is devoted to the development and performance evaluation of a hard bearing type balancing machine for rigid rotors. The pedestals of the balancing machine are designed to be rigid to be rigid enough to enable the balancing to operate far below the fundamental critical speed. The force measuring method is implemented to the balancing machine. The forces due to unbalance are measured through load cell that are attached to the pedestals. A helical coupling is used for transmitting the driving force from an AC servo motor to the rotor to be balanced. The experimental results show that the current hard bearing type balancing machine can indicate the presence of unbalance beyond 1 .mu. m in specific unbalance unit. The limitation of the current balancing machine is due to the coupling that is likely to make inconsistent offset errors everytime the rotor is connected to the machine.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.1026-1031
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• 2001

In this paper. the dynamic characteristics of a super high-speed tilting-pad air bearing(TPGB) used in a turbo expander with high expansion ratio are analyzed. The dynamic behavior and stability of a rotary system supported by two journal air bearings are investigated numerically. The transient response of the shaft is obtained by simultaneously solving the equation of motion of the shaft and the dynamic Reynolds equation. The stiffness and damping coefficients of the bearing are calculated from the loading coefficients of the bearing are calculated from the loading capacity. shaft velocity and displacement by using a curve fitting method. The natural frequencies of the 1st and 2nd rigid modes can be calculated from these coefficients. The theoretical method of a rigid rotor system is verified by experimentsut.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.463-467
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• 2003

This part of ISO 1940 covers the following: a) identification of errors in the balancing process of rigid rotors: b) assessment of errors: c) guidelines for taking into account: d) the evaluation of residual unbalance in two correction planes. Detailed consideration of errors associated with the determination of residual unbalance is covered in the first part of ISO 1940.

• 정보처리학회논문지A
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• 제14A권5호
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• pp.255-262
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• 2007

물리 기반의 헬리콥터 시뮬레이션은 항공학, 항공역학 등의 분야에서 많이 연구되어 오고 있으나, 복잡한 수식, 많은 계산량 등으로 인해 사실성과 속도를 동시에 추구하는 컴퓨터 그래픽스 분야에는 적용하기 어려웠다. 본 논문에서는 컴퓨터 그래픽스 분야에 적용할 수 있도록 구현하기 쉽고, 실시간 헬리콥터 시뮬레이션을 가능하게 하는 헬리콥터 회전 깃(rotor blades)의 역학적 모델을 제안한다. 헬리콥터는 회전 깃과 공기의 충돌로 발생한 힘을 통해 운동하는데, 이는 유체와 강체가 충돌해서 발생하는 충돌력으로 설명할 수 있다. 이를 근거로 근사화한 회전 깃의 역학적 모델을 도입하면, 기존의 강체 시뮬레이션 방법으로 유체와 강체가 충돌하는 헬리콥터의 움직임을 실시간 시뮬레이션 할 수 있다. 본 논문에서는 실시간 계산이 가능하도록 뉴턴의 양력 계산법을 응용하여 회전 깃의 움직임으로 발생하는 힘을 구한다. 본 논문이 제안하는 방법에 따라 구현된 프로토타입 시스템은 실제와 유사한 헬리콥터 시뮬레이션을 실시간에 처리할 수 있음을 보였다.

• Tribology and Lubricants
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• 제2권2호
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• pp.20-26
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• 1986

The paper presents an analytical investigation of the unbalance vibrations of a pump rotor. The analysis applies to rotor-bearing-seal-impeller systems which consist of rigid disks, distributed parameter rotor elements and discreate bearings, seals, and impellers. The dynamic hydraulic force of bearing, seal and impeller elements are represented by four stiffness coefficients arid four damping coefficients. Numerical results are presented for unbalance response associated with various kinds bearing, and with effects of seal and impeller forces.