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· 분류 : 외국도서 > 기술공학 > 기술공학 > 기계공학
· ISBN : 9781119401056
· 쪽수 : 856쪽
목차
Preface to first edition xiii
Preface to second edition xvii
Preface to third edition
Copyright acknowledgements xxi
Notation xxiii
List of abbreviations xxxiii
Chapter 1 Introduction
1.1 Simulation modelling 1
1.2 Flying qualities 3
1.3 Missing topics 4
1.4 Simple guide to the book 5
Chapter 2 Helicopter and tiltrotor flight dynamics – an introductory tour
2.1 Introduction 9
2.2 Four reference points 10
2.2.1 The mission and piloting tasks 11
2.2.2 The operational environment 14
2.2.3 The vehicle configuration, dynamics and flight envelope 15
Rotor controls 15
Two distinct flight regimes 17
Rotor stall boundaries 20
2.2.4 The pilot and pilot–vehicle interface 22
2.2.5 Résumé of the four reference points 24
2.3 Modelling helicopter flight dynamics 25
The problem domain 25
Multiple interacting subsystems 26
Trim, stability and response 28
The flapping rotor in vacuo 30
The flapping rotor in air – aerodynamic damping 33
Flapping derivatives 36
The fundamental 90° phase shift 36
Hub moments and rotor/fuselage coupling 38
Linearization in general 41
Stability and control résumé 42
The static stability derivative Mw 43
Rotor thrust, inflow, Zw and vertical gust response in hover 46
Gust response in forward flight 48
Vector-differential form of equations of motion 50
Validation 52
Inverse simulation 57
Modelling review 58
2.4 Flying qualities 59
Pilot opinion 60
Quantifying quality objectively 61
Frequency and amplitude – exposing the natural dimensions 62
Stability – early surprises compared with aeroplanes 63
Pilot-in-the-loop control; attacking a manoeuvre 66
Bandwidth – a parameter for all seasons? 67
Flying a mission task element 70
The cliff edge and carefree handling 71
Agility factor 72
Pilot’s workload 73
Inceptors and displays 75
Operational benefits of flying qualities 75
Flying qualities review 77
2.5 Design for flying qualities; stability and control augmentation 78
Impurity of primary response 79
Strong cross-couplings 79
Response degradation at flight envelope limits 80
Poor stability 80
The rotor as a control filter 81
Artificial stability 81
2.6 Tiltrotor flight dynamics
2.7 Chapter review 84
Chapter 3 Modelling helicopter flight dynamics: building a simulation model
3.1 Introduction and scope 87
3.2 The formulation of helicopter forces and moments in level 1 modelling 91
3.2.1 Main rotor 93
Blade flapping dynamics – introduction 93
The centre-spring equivalent rotor 96
Multi-blade coordinates 102
Rotor forces and moments 108
Rotor torque 114
Rotor inflow 115
Momentum theory for axial flight 116
Momentum theory in forward flight 119
Local-differential momentum theory and dynamic inflow 125
Rotor flapping–further considerations of the centre-spring approximation 128
Rotor in-plane motion – lead–lag 135
Rotor blade pitch 138
Ground effect on inflow and induced power 139
3.2.2 The tail rotor 142
3.2.3 Fuselage and empennage 146
The fuselage aerodynamic forces and moments 146
The empennage aerodynamic forces and moments 149
3.2.4 Powerplant and rotor governor 152
3.2.5 Flight control system 154
Pitch and roll control 154
Yaw control 158
Heave control 158
3.3 Integrated equations of motion of the helicopter 159
3.4 Beyond level 1 modelling 162
3.4.1 Rotor aerodynamics and dynamics 163
Rotor aerodynamics 163
Modelling section lift, drag and pitching moment 164
Modelling local incidence 167
Rotor dynamics 168
3.4.2 Interactional aerodynamics 171
3.5 Chapter 3 epilogue
Appendix 3A Frames of reference and coordinate transformations 175
3A.1 The inertial motion of the aircraft 175
3A.2 The orientation problem – angular coordinates of the aircraft 180
3A.3 Components of gravitational acceleration along the aircraft axes 181
3A.4 The rotor system – kinematics of a blade element 182
3A.5 Rotor reference planes – hub, tip path and no-feathering 184
Chapter 4 Modelling helicopter flight dynamics: trim and stability analysis
4.1 Introduction and scope 187
4.2 Trim analysis 192
4.2.1 The general trim problem 194
4.2.2 Longitudinal partial trim 196
4.2.3 Lateral/directional partial trim 201
4.2.4 Rotorspeed/torque partial trim 203
4.2.5 Balance of forces and moments 204
4.2.6 Control angles to support the forces and moments 204
4.3 Stability analysis 208
4.3.1 Linearization 209
4.3.2 The derivatives 214
The translational velocity derivatives 215
The angular velocity derivatives 224
The control derivatives 231
The effects of non-uniform rotor inflow on damping and control derivatives 234
Some reflections on derivatives 235
4.3.3 The natural modes of motion 236
The longitudinal modes 241
The lateral/directional modes 247
Comparison with flight 250
Appendix 4A The analysis of linear dynamic systems (with special reference to 6 DoF helicopter flight) 252
Appendix 4B The three case helicopters: Lynx, Bo105 and Puma 261
4B.1 Aircraft configuration parameters 261
The RAE (DRA) research Lynx, ZD559 261
The DLR research Bo105, S123 261
The RAE (DRA) research Puma, SA330 263
Fuselage aerodynamic characteristics 264
Empennage aerodynamic characteristics 268
4B.2 Stability and control derivatives 269
4B.3 Tables of stability and control derivatives and system eigenvalues 277
Appendix 4C The trim orientation problem 293
Chapter 5 Modelling helicopter flight dynamics: stability under constraint and response analysis
5.1 Introduction and scope 297
5.2 Stability under constraint 298
5.2.1 Attitude constraint 299
5.2.2 Flight-path constraint 306
Longitudinal motion 306
Lateral motion 310
5.3 Analysis of response to controls 315
5.3.1 General 315
5.3.2 Heave response to collective control inputs 317
Response to collective in hover 317
Response to collective in forward flight 323
5.3.3 Pitch and roll response to cyclic pitch control inputs 325
Response to step inputs in hover – general features 325
Effects of rotor dynamics 327
Step responses in hover – effect of key rotor parameters 327
Response variations with forward speed 330
Stability versus agility – contribution of the horizontal tailplane 331
Comparison with flight 332
5.3.4 Yaw/roll response to pedal control inputs 338
5.4 Response to atmospheric disturbances 344
Modelling atmospheric disturbances 346
Modelling helicopter response 348
Ride qualities 350
Appendix 5A Speed stability below minimum power; a forgotten problem?
Chapter 6 Flying qualities: objective assessment and criteria development
6.1 General introduction to flying qualities 355
6.2 Introduction and scope: the objective measurement of quality 360
6.3 Roll axis response criteria 364
6.3.1 Task margin and manoeuvre quickness 364
6.3.2 Moderate to large amplitude/low to moderate frequency: quickness and control power 371
6.3.3 Small amplitude/moderate to high frequency: bandwidth 378
Early efforts in the time domain 378
Bandwidth 381
Phase delay 386
Bandwidth/phase delay boundaries 387
Civil applications 389
The measurement of bandwidth 391
Estimating ωbw and τp 397
Control sensitivity 399
6.3.4 Small amplitude/low to moderate frequency: dynamic stability 401
6.3.5 Trim and quasi-static stability 402
6.4 Pitch axis response criteria 404
6.4.1 Moderate to large amplitude/low to moderate frequency: quickness and control power 404
6.4.2 Small amplitude/moderate to high frequency: bandwidth 408
6.4.3 Small amplitude/low to moderate frequency: dynamic stability 410
6.4.4 Trim and quasi-static stability 413
6.5 Heave axis response criteria 417
6.5.1 Criteria for hover and low speed flight 420
6.5.2 Criteria for torque and rotorspeed during vertical axis manoeuvres 424
6.5.3 Heave response criteria in forward flight 424
6.5.4 Heave response characteristics in steep descent 427
6.6 Yaw axis response criteria 429
6.6.1 Moderate to large amplitude/low to moderate frequency: quickness and control power 430
6.6.2 Small amplitude/moderate to high frequency: bandwidth 433
6.6.3 Small amplitude/low to moderate frequency: dynamic stability 433
6.6.4 Trim and quasi-static stability 436
6.7 Cross-coupling criteria 437
6.7.1 Pitch-to-roll and roll-to-pitch couplings 437
6.7.2 Collective to pitch coupling 440
6.7.3 Collective to yaw coupling 440
6.7.4 Sideslip to pitch and roll coupling 440
6.8 Multi-axis response criteria and novel-response types 442
6.8.1 Multi-axis response criteria 442
6.8.2 Novel response types 444
6.9 Objective criteria revisited 447
Chapter 7 Flying qualities: subjective assessment and other topics
7.1 Introduction and scope 455
7.2 The subjective assessment of flying quality 456
7.2.1 Pilot handling qualities ratings – HQRs 457
7.2.2 Conducting a handling qualities experiment 464
Designing a mission task element 464
Evaluating roll axis handling characteristics 466
7.3 Special flying qualities 478
7.3.1 Agility 478
Agility as a military attribute 478
The agility factor 481
Relating agility to handling qualities parameters 484
7.3.2 The integration of controls and displays for flight in degraded visual environments 487
Flight in DVE 487
Pilotage functions 488
Flying in DVE 489
The usable cue environment 490
UCE augmentation with overlaid symbology 496
7.3.3 Carefree flying qualities 500
7.4 Pilot’s controllers 508
7.5 The contribution of flying qualities to operational effectiveness and the safety of flight 511
Chapter 8 Flying qualities: forms of degradation
8.1 Introduction and scope 517
8.2 Flight in degraded visual environments 519
8.2.1 Recapping the usable cue environment 520
8.2.2 Visual perception in flight control – optical flow and motion parallax 523
8.2.3 Time to contact; optical tau, τ 532
8.2.4 τ control in the deceleration-to-stop manoeuvre 536
8.2.5 Tau-coupling – a paradigm for safety in action 538
8.2.6 Terrain-following flight in degraded visibility 545
τ on the rising curve 548
8.2.7 What now for tau?
8.3 Handling qualities degradation through flight system failures 559
8.3.1 Methodology for quantifying flying qualities following flight function failures 562
8.3.2 Loss of control function 564
Tail rotor failures 564
8.3.3 Malfunction of control – hard-over failures 568
8.3.4 Degradation of control function – actuator rate limiting 574
8.4 Encounters with atmospheric disturbances 576
8.4.1 Helicopter response to aircraft vortex wakes 578
The wake vortex 578
Hazard severity criteria 579
Analysis of encounters – attitude response 587
Analysis of encounters – vertical response 588
8.4.2 Severity of transient response 593
8.5 Chapter Review 597
Appendix 8A HELIFLIGHT, HELIFLIGHT-R and FLIGHTLAB at the University of Liverpool 599
FLIGHTLAB 601
Immersive cockpit environment 602
HELIFLIGHT-R
Chapter 9 Flying Qualities: the story of an idea
9.1 Introduction and Scope
9.2 Historical Context of Rotorcraft Flying Qualities
9.2.1 The Early Years; Some Highlights from the 1940s−50s
9.2.2 The Middle Years – Some Highlights from the 1960s−70s
9.3 Handling Qualities as a Performance Metric – the Development of ADS-33
9.3.1 The Evolution of a Design Standard – the Importance of Process
9.3.2 Some Critical Innovations in ADS-33
9.4 The UK MoD Approach
9.5 Roll Control; a driver for rotor design
9.6 Helicopter Agility
9.7 ADS-33 Tailoring and Applications
9.8 Handling Qualities as a Safety Net; The Pilot as a System Component
9.9 The Future Challenges for Rotorcraft Handling Qualities Engineering
Chapter 10 Tiltrotor Aircraft: modelling and flying qualities
10.1 Introduction and scope
10.2 Modelling and simulation of tiltrotor flight dynamics
10.2.1 Building a simulation model
Multi-Body Dynamic Modelling
Axes Systems
Gimbal rotors
FXV-15 model components and data
Interactional aerodynamics in low speed flight
Vortex Ring State and the consequences for tilt rotor aircraft
10.2.2 Trim, linearization and stability
10.2.3 Response analysis
10.3 The flying qualities of tiltrotor aircraft
10.3.1 General
10.3.2 Developing tiltrotor mission task elements
10.3.3 Flying qualities of tiltrotors; clues from the eigenvalues
10.3.4 Agility and closed-loop stability of tiltrotors
Lateral-directional agility and closed-loop stability
Longitudinal pitch-heave agility and closed-loop stability
10.3.5 Flying qualities during the conversion
10.3.6 Improving tiltrotor flying qualities with stability and control augmentation
Rate stabilisation
V-22 power management and control
Unification of Flying Qualities
Flying qualities of large civil tiltrotor aircraft
10.4 Load alleviation vs flying qualities for tiltrotor aircraft
10.4.1 Drawing on the V-22 experience
10.4.2 Load alleviation for the European civil tiltrotor
Modelling for the structural load alleviation ‘problem’ - oscillatory yoke (chordwise) bending moments
Control laws for structural load alleviation
10.5 Chapter Epilogue; Tempus Fugit for Tiltrotors
Appendix 10A FLIGHTLAB axes systems and gimbal flapping dynamics
10A.1 FLIGHTLAB axes systems
10A.2 Gimbal flapping dynamics
Appendix 10B The XV-15 Tiltrotor
10B.1 Aircraft configuration parameters
10B.2 XV-15 control ranges and gearings
10B.3 XV-15 3-view
Appendix 10C The FXV-15 stability and control derivatives
10C.1 Graphical forms
10C.2 FXV-15 stability and control derivative and eigenvalue tables
10C.2.1 Helicopter mode
10C.2.2 Conversion mode
10C.2.3 Airplane mode
Appendix 10D Proprotor gimbal dynamics in airplane mode
Appendix 10E Tiltrotor Directional instability through constrained roll motion; an elusive, paradoxical dynamic
10E.1 Background and the effective directional stability
10E.2 Application to tiltrotors
References
Index