2nd Joint Workshop in Mechanical, Aerospace and Industrial and Management Engineering 5- 6 April 2008, Indian Institute of Technology,

Kanpur INDIA

DEVELOPMENTS IN APPLIED AERODYNAMICS AND FLIGHT MECHANICS OF UNMANNED AERIAL VEHICLES

by

Dominic D. J. Chandar, Mark Leon C.S. Tan and M. Damodaran

presented by

Dr. Murali Damodaran Associate Professor School of Mechanical and Aerospace Engineering Nanyang Technological University
5 APRIL 2008
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Unmanned Aerial Vehicles

FIXED WING

ROTARY WING/DUCTED FAN

FLAPPING WING

MORPHED CONFIGURATIONS
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OVERVIEW 1. CFD Simulation of Low Reynolds Number Flapping Wing Aerodynamics - with Dominic

2. Integrated Computational Framework for Aerodynamics, Flight mechanics and Control of Fixed Wing UAVs. - Mark Leon Tan C S

Overture / OverBlown

Overset Moving grids

Overture Framework

Overset Flow Solver (OverBlown)

Parallel Computing on Stationary Grids

A++ Framework Faster Array Manipulation

Interface With PETSc

Deforming Body Motion with GCL (Added Recently)

LOW REYNOLDS NUMBER FLAPPING WING AERODYNAMICS MODELING

LOW REYNOLDS NUMBER FLAPPING WING AERODYNAMICS MODELING

OVERLAPPING / COMPOSITE / OVERSET / CHIMERA MESH

Individual Component Meshes generated independently

Ogen Mesh Generator

INTERPOLATION BETWEEN MESHES

SOLUTION AT INTERPOLATION POINTS IS OBTAINED FROM DISCRETIZATION POINTS OF NEIGHBORING GRID

EXPLICIT

IMPLICIT
SOLUTION AT INTERPOLATION POINTS IS OBTAINED FROM INTERPOLATION & DISCRETIZATION POINTS OF NEIGHBORING GRID

INTERPOLATION BETWEEN MESHES For 2nd order Scheme : Width of Interpolation = 3 (Quadratic)

U(i,j)
Interpolation Weights
In 1D Width of discretization = Width of Interpolation If Overlap ~ Constant x MeshSize : Width of Interpolation = 2pr + 1 2p = Order of PDE, 2r = Order of Discretization
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INTERPOLATION BETWEEN MESHES

Chandar and Damodaran, AIAA J, Vol 46, No2, 2008, pp 429-438

Vortex On The Interpolation Boundary

INTERPOLATION ON DYNAMIC MESHES

RIGID BODY MOTION

x = G (r,t)

NO REMESHING ONLY INTERPOLATION POINTS CHANGE

How About Deforming Bodies ?

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OVERLAPPING / COMPOSITE / OVERSET / CHIMERA MESH

DEFORMING WING

Hyperbolic mesh generation at each time step. Marching distance from the boundary limited to a small radius Jacobian at each deforming point follows the Geometric Conservation Law (ONLY for the mesh surrounding the wing)
J + J + t t J + J =0 t t

Deforming Wing -Video

J = Jacobian of the transformation x=x( ,, ) ;

,, are Computational Coordinates

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OVERLAPPING / COMPOSITE / OVERSET / CHIMERA MESH

DEFORMING WING

Hyperbolic mesh generation at each time step. Marching distance from the boundary limited to a small radius Jacobian at each deforming point follows the Geometric Conservation Law (ONLY for the mesh surrounding the wing)

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LOW REYNOLDS NUMBER FLAPPING WING AERODYNAMICS MODELING

Prescribed motion (Active flight). x=x0sin(2ft),

=0sin(2ft)
Motion determined from the forces (Passive Flight)
Weakly Coupled Navier-Stokes- Newtons Law

FA,i =

pni nk ki dS
d 2 xcm M = FA dt 2 dJ =T dt

T=

(r x

cm

)dF

Position

, J = I ii ei

i = ei e
Orientation

i = T ei I i
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Unsteady Low Reynolds Number Flow Problems Coupling With 6DOF Model

Fluttering / Tumbling of Cards

Numerical computations aid in analyzing The key parameters responsible for Flutter / Tumble of a Falling Card

Free Flight of a Flapping Wing

The onset of Forward Flight due to Flapping Can be determined

Reverse Hysteresis Effects

Can Lift drop with increase in Angle of attack ?? Computations do reveal This fact for pitching above certain frequencies

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Fluttering and Tumbling of Cards

Trajectory

e2

e2
e3

e1

e1 e3
Angles ~ ei . ei

Falling Rectangular Card Re = 630 Aspect Ratio = 2

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Z-Vorticity

Z-Vorticity

Vorticity Magnitude

Y-Vorticity X-Z Plane

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Free Freefall fallof ofa aRectangular Rectangularcard card Wang, Wang,J J((2005 2005))

30 cm

45 cm
70 cm

w = 19 cm

Re = 837

L = 0.648 cm

h = 0.081 cm

Mesh ~ 512 x 256

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Free Freefall fallof ofa aRectangular Rectangularcard card Wang, Wang,J J((2005 2005))

Streamlines

Trajectory

Fx

Vorticity

Fy

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Autorotation Autorotation//Flutter Flutterof ofRectangular RectangularPlates Plates

Pinned at the centre of mass Inflow

Non-dimensional Moment of Inertia

1 b I = 1+ 2 12 f
*

)
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Thickness to chord ratio

Density of plate / Density of fluid

Autorotation Autorotation//Flutter Flutterof ofRectangular RectangularPlates Plates

= 0.1

= 0.5

log (|vorticity|)

= 1.0

vorticity

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Autorotation Autorotation//Flutter Flutterof ofRectangular RectangularPlates Plates

A pinned card excited by aerodynamic forces will attain any one of the three states of motion High density and large thickness rotates slowly high inertia

For low frequency oscillations, frequency of vortex shedding is greater than frequency of rotation For high frequency oscillations, frequency of vortex shedding is less than the frequency of rotation.

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Autorotation Autorotation//Flutter Flutterof ofRectangular RectangularPlates Plates

Comparison with the numerical results of Mittal.R et al (2004) Lift Coefficient

= 0.2

= 0.5

Not Flutter as pointed out by Mittal et.al but a state of low frequency / amplitude# oscillation
#Chandar

and Damodaran, Unsteady Low Reynolds Number Aerodynamics of Flapping, Fluttering and Tumbling, AIAA J In Review

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Autorotation Autorotation//Flutter Flutterof ofElliptical EllipticalPlates Plates

Comparison with the numerical results of Lugt (1981) : Forced Rotation

K = 0.167

K = 0.25

K = 0.5

K = 1.0 23

Moment coefficient for different Reduced frequencies (k)

FREE-FLIGHT FREE-FLIGHTOF OFA AFLAPPING FLAPPINGWING WING

Flap for One cycle with Centre of mass fixed then let it free
y x z

Mass = 1.207 Aspect Ratio = 2.0 Re = O(100) t/c = 10 % Frequency f = 1.5 Hz

k = 0k sin(2 f k t ), k = 0,1, 2 01 = 0
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VORTICITY VORTICITYFIELDS FIELDS

X- Vorticity

Z- Vorticity

Vorticity Magnitude

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Thrust Thrustover overOne OneCycle Cycle

Thrust C

Angular position of wing

D E

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Trajectory Trajectoryand andForward ForwardSpeed Speed

Position of centre of mass

Forward speed
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Wing Wingin inConstant ConstantSpeed SpeedRotation Rotationafter aftera aFast FastStart Start

y
Lan and Sun (2001) Dickinson et. al (1999)

x z

Re = 100 Aspect Ratio = 2 t/c = 0.12

= 0.5 0 (1 cos( t )), = 0 , t > 1

0 t 1

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Wing Wingin inConstant ConstantSpeed SpeedRotation Rotationafter aftera aFast FastStart Start

Volume meshes on wing tip caps

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Wing Wingin inConstant ConstantSpeed SpeedRotation Rotationafter aftera aFast FastStart Start

Steady State

CD (OverBlown) = 1.06 CD (Lan and Sun) = 1.01

CL (OverBlown) = 1.08 CL (Lan and Sun) = 1.00

+ OverBlown -102,600 points (coarse~ Wing + wing caps) * Lan and Sun (2001) 359,055 points

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Recent RecentDevelopments Developments--Deforming DeformingAirfoil AirfoilComputations Computations

Development of an Interface to Visualize Deforming Body Problems

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Deforming DeformingMotion MotionClass Class--Validation Validation

p y ( x, t ) = y ( x) + Ax sin(t + kx + ) + B sin(t ) 0
Initial Profile Wave-like profile Rigid translation

RIGID BODY PLUNGING USING THE DEFORMING BODY CLASS A = 0, B = 0.4, = 2, Re = 10,000

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Deforming DeformingAirfoil AirfoilComputations Computations

p y ( x, t ) = y ( x) + Ax sin(t + kx + ) + B sin(t ) 0

Re = 10000

A = 0.1, p =2, k =0, = /2, B =1

A = 0.3, p =2, k =0, = /2, B =1

Re = 1000
A = 0.2, p =3, k =1, = 0, B =0

Filament-like flapping

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Deforming DeformingAirfoil AirfoilComputations Computations

Two Filaments deforming

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Integrated Flight Dynamics Model of a UAV

Overview of Flight Dynamics and Control

Develop Integrated Computational Model to: Address the Stability and Control Problem Assist in Formulation of Flight Control Law Use CFD to generate unavailable UAV aerodynamic data and to provide a basis for developing control law Estimate unavailable UAV stability and control derivatives Analyze impact of various flight control systems to mitigate the flight stability problem

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Integrated Computational Framework for Aerodynamics, Flight Dynamics and Control of UAVs

Simulate Using Matlab/Simulink driven Aerospace Blockset/AeroSim

MINDEF RSAF Air Logs DSTA Funded Project@NTU July 2005-July 2007
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Flight Dynamics Model

Simulate Using Matlab/Simulink driven Aerospace Blockset/AeroSim

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Design of Dutch Roll Damper

Dutch roll damper Suppress the natural dynamics of the dutch roll To desensitize the overall damping to the variation of flight parameters Design Cycle Provide damping with respect to inertia space Open Loop
a
u 0 + -

Aircraft = Ax + Bu x Dynamics
Plant

Analysis
C

Obtain desired freq & damping Close loop analysis Modification of System

Dutch sRoll s+k Damper

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Design of Dutch Roll Damper

a
0 +

Yaw Rate output

u

= Ax + Bu x
AircraftPlant Dynamics

Rudder Control Surface as the key controller

Dutch Roll Damper

Need to obtain the gain for the feedback loop

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Flight Dynamics Model Simulation in FlightGear

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CONCLUDING REMARKS
CFD Simulation of Low Reynolds Number Aerodynamics of Flapping Wing, Tumbling and Fluttering Plates etc. Coupling of Structural Dynamics and CFD to model flexible flapping wings the next step. Integrated Framework to be developed to include rotary wing and flapping wing MAVs/UAVs

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THANK YOU
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