Engineering topics

Theodore, Colin R.

Publications and source records attributed to Theodore, Colin R..

At least 19 records

NASA NTRS2018

Incorporating Test Data for Small UAS at the Conceptual Design Level

Increasing demand for improved capabilities of small unmanned aircraft systems (sUAS) has generated interest in improving the design techniques for these vehicles. sUAS have typically been designed using iterative methods with multiple prototypes, but advancements in aircraft design software will make it possible to generate conceptual designs of very small VTOL aircraft with reduced hardware prototyping. This paper describes a research effort to generate a conceptual design of an approximately 6-lb quadcopter using the NASA rotorcraft design software NDARC. Wind tunnel and hover test data are used to validate and refine the conceptual design results. The effects of parametric design variations on vehicle scale are shown. The design study described herein shows that the NDARC software, which was designed for full-scale rotorcraft, can be used to design and evaluate sUAS vehicles.

Russell, Carl R.↗

NASA NTRS2018

A Summary of the NASA Design Environment for Novel Vertical Lift Vehicles (DELIVER) Project

The number of new markets and use cases being developed for vertical take-off and landing vehicles continues to explode, including the highly publicized urban air taxi and package deliver applications. There is an equally exploding variety of novel vehicle configurations and sizes that are being proposed to fill these new market applications. The challenge for vehicle designers is that there is currently no easy and consistent way to go from a compelling mission or use case to a vehicle that is best configured and sized for the particular mission. This is because the availability of accurate and validated conceptual design tools for these novel types and sizes of vehicles have not kept pace with the new markets and vehicles themselves. The Design Environment for Novel Vertical Lift Vehicles (DELIVER) project was formulated to address this vehicle design challenge by demonstrating the use of current conceptual design tools, that have been used for decades to design and size conventional rotorcraft, applied to these novel vehicle types, configurations and sizes. In addition to demonstrating the applicability of current design and sizing tools to novel vehicle configurations and sizes, DELIVER also demonstrated the addition of key transformational technologies of noise, autonomy, and hybrid-electric and all-electric propulsion into the vehicle conceptual design process. Noise is key for community acceptance, autonomy and the need to operate autonomously are key for efficient, reliable and safe operations, and electrification of the propulsion system is a key enabler for these new vehicle types and sizes. This paper provides a summary of the DELIVER project and shows the applicability of current conceptual design and sizing tools novel vehicle configurations and sizes that are being proposed for urban air taxi and package delivery type applications.

Design Environment↗

NASA NTRS2018

High-Fidelity Computational Aerodynamics of the Elytron 4S UAV

High-fidelity Computational Fluid Dynamics (CFD) have been carried out for the Elytron 4S Unmanned Aerial Vehicle (UAV), also known as the converticopter "proto12". It is the scaled wind tunnel model of the Elytron 4S, an Urban Air Mobility (UAM) concept, a tilt-wing, box-wing rotorcraft capable of Vertical Take-Off and Landing (VTOL). The three-dimensional unsteady Navier-Stokes equations are solved on overset grids employing high-order accurate schemes, dual-time stepping, and a hybrid turbulence model using NASA's CFD code OVERFLOW. The Elytron 4S UAV has been simulated in airplane mode and in helicopter mode.

High-Fidelity↗

NASA NTRS2017

Greased Lightning (GL-10) Performance Flight Research: Flight Data Report

Modern aircraft design methods have produced acceptable designs for large conventional aircraft performance. With revolutionary electronic propulsion technologies fueled by the growth in the small UAS (Unmanned Aerial Systems) industry, these same prediction models are being applied to new smaller, and experimental design concepts requiring a VTOL (Vertical Take Off and Landing) capability for ODM (On Demand Mobility). A 50% sub-scale GL-10 flight model was built and tested to demonstrate the transition from hover to forward flight utilizing DEP (Distributed Electric Propulsion)[1][2]. In 2016 plans were put in place to conduct performance flight testing on the 50% sub-scale GL-10 flight model to support a NASA project called DELIVER (Design Environment for Novel Vertical Lift Vehicles). DELIVER was investigating the feasibility of including smaller and more experimental aircraft configurations into a NASA design tool called NDARC (NASA Design and Analysis of Rotorcraft)[3]. This report covers the performance flight data collected during flight testing of the GL-10 50% sub-scale flight model conducted at Beaver Dam Airpark, VA. Overall the flight test data provides great insight into how well our existing conceptual design tools predict the performance of small scale experimental DEP concepts. Low fidelity conceptual design tools estimated the (L/D)( sub max)of the GL-10 50% sub-scale flight model to be 16. Experimentally measured (L/D)( sub max) for the GL-10 50% scale flight model was 7.2. The aerodynamic performance predicted versus measured highlights the complexity of wing and nacelle interactions which is not currently accounted for in existing low fidelity tools.

McSwain, Robert G.↗

NASA NTRS2017

Greased Lightning (GL-10) Flight Testing Campaign

Greased Lightning (GL-10) is an aircraft configuration that combines the characteristics of a cruise efficient airplane with the ability to perform vertical takeoff and landing (VTOL). This aircraft has been designed, fabricated and flight tested at the small unmanned aerial system (UAS) scale. This technical memorandum will document the procedures and findings of the flight test experiments. The GL-10 design utilized two key technologies to enable this unique aircraft design; namely, distributed electric propulsion (DEP) and inexpensive closed loop controllers. These technologies enabled the flight of this inherently unstable aircraft. Overall it has been determined thru flight test that a design that leverages these new technologies can yield a useful VTOL cruise efficient aircraft.

Fredericks, William J.↗

NASA NTRS2016

Handling Qualities Optimization for Rotorcraft Conceptual Design

Over the past decade, NASA, under a succession of rotary-wing programs has been moving towards coupling multiple discipline analyses in a rigorous consistent manner to evaluate rotorcraft conceptual designs. Handling qualities is one of the component analyses to be included in a future NASA Multidisciplinary Analysis and Optimization framework for conceptual design of VTOL aircraft. Similarly, the future vision for the capability of the Concept Design and Assessment Technology Area (CD&A-TA) of the U.S Army Aviation Development Directorate also includes a handling qualities component. SIMPLI-FLYD is a tool jointly developed by NASA and the U.S. Army to perform modeling and analysis for the assessment of flight dynamics and control aspects of the handling qualities of rotorcraft conceptual designs. An exploration of handling qualities analysis has been carried out using SIMPLI-FLYD in illustrative scenarios of a tiltrotor in forward flight and single-main rotor helicopter at hover. Using SIMPLI-FLYD and the conceptual design tool NDARC integrated into a single process, the effects of variations of design parameters such as tail or rotor size were evaluated in the form of margins to fixed- and rotary-wing handling qualities metrics as well as the vehicle empty weight. The handling qualities design margins are shown to vary across the flight envelope due to both changing flight dynamic and control characteristics and changing handling qualities specification requirements. The current SIMPLI-FLYD capability and future developments are discussed in the context of an overall rotorcraft conceptual design process.

Handling Qualities↗

NASA NTRS2016

Second-Generation Large Civil Tiltrotor 7- by 10-Foot Wind Tunnel Test Data Report

An approximately 6-percent scale model of the NASA Second-Generation Large Civil Tiltrotor (LCTR2) Aircraft was tested in the U.S. Army 7- by 10-Foot Wind Tunnel at NASA Ames Research Center January 4 to April 19, 2012, and September 18 to November 1, 2013. The full model was tested, along with modified versions in order to determine the effects of the wing tip extensions and nacelles; the wing was also tested separately in the various configurations. In both cases, the wing and nacelles used were adopted from the U.S. Army High Efficiency Tilt Rotor (HETR) aircraft, in order to limit the cost of the experiment. The full airframe was tested in high-speed cruise and low-speed hover flight conditions, while the wing was tested only in cruise conditions, with Reynolds numbers ranging from 0 to 1.4 million. In all cases, the external scale system of the wind tunnel was used to collect data. Both models were mounted to the scale using two support struts attached underneath the wing; the full airframe model also used a third strut attached at the tail. The collected data provides insight into the performance of the preliminary design of the LCTR2 and will be used for computational fluid dynamics (CFD) validation and the development of flight dynamics simulation models.

Theodore, Colin R.↗

NASA NTRS2015

Handling Qualities of Large Rotorcraft in Hover and Low Speed

According to a number of system studies, large capacity advanced rotorcraft with a capability of high cruise speeds (approx.350 mph) as well as vertical and/or short take-off and landing (V/STOL) flight could alleviate anticipated air transportation capacity issues by making use of non-primary runways, taxiways, and aprons. These advanced aircraft pose a number of design challenges, as well as unknown issues in the flight control and handling qualities domains. A series of piloted simulation experiments have been conducted on the NASA Ames Research Center Vertical Motion Simulator (VMS) in recent years to systematically investigate the fundamental flight control and handling qualities issues associated with the characteristics of large rotorcraft, including tiltrotors, in hover and low-speed maneuvering.

Large Rotorcraft↗

NASA NTRS2014

Rotorcraft Flight Dynamics and Controls Research at NASA

In recent years, NASA has invested in key activities in the areas of flight controls, handling qualities and operations of rotorcraft for civilian applications. More specifically, the flight dynamics and control discipline has focused on analyzing the unique flight control and handling qualities challenges of large rotary wing vehicles anticipated for future passenger service, and examining the effect of control system augmentation on handling qualities for current civilian helicopters in order to improve safety and reduce accident rates. This paper highlights two recent research efforts in these areas. The first is an examination of flight control and handling qualities aspects of large rotorcraft. A series of experiments were performed in the large-motion Vertical Motion Simulator at NASA Ames Research Center to quantify the effects of vehicle size on flight control requirements and piloted handling qualities. These experiments used a large tilt-rotor concept (~100 passengers) to also investigate the control augmentation required to obtain Level 1 handling qualities for a vehicle of this size. The second is an examination of the effect of control system augmentation on handling qualities for current civil rotorcraft, like those currently used for Emergency Medical Service type operations. Many current civilian helicopters have rate response type control systems and little or no control system augmentation, although current technologies allow helicopters to be fitted with stability augmentation systems, either as standard equipment or aftermarket options. A simulation experiment was conducted in the Vertical Motion Simulator to quantify the effects of advanced control modes available with a partial authority stability augmentation system on task performance and handling qualities in both good and degraded visual conditions. In addition to providing an overview of the rotary wing flight dynamics and controls research at NASA, this paper will provide an overview of these two research activities along with key results and conclusions.

Research at NASA↗

NASA NTRS2014

Rotorcraft Flight Dynamics and Controls Research at NASA

Rotorcraft↗

NASA NTRS2014

Effect of Control System Augmentation on Handling Qualities and Task Performance in Good and Degraded Visual Environments

In June 2013, NASA and the U.S. Army jointly conducted a simulation experiment in the NASA-Ames Vertical Motion Simulator that examined and quantified the effects of limited-authority control system augmentation on handling qualities and task performance in both good and degraded visual environments (DVEs). The vehicle model used for the experiment was the OH-58D with similar size, weight and performance, and the same 4-blade rotor system as the Bell 407 civilian helicopter that is commonly used for medical evacuation and emergency medical services. The control systems investigated as part of this study included the baseline aircraft Rate Command system, a short-term Attitude Command/Attitude Hold system that uses lagged-rate feedback to provide a short-term attitude response, Modernized Control Laws that provide an Attitude Command/Attitude Hold control response type, and Modernized Control Laws with an additional Position Hold function. Evaluation tasks included the ADS-33 Hover, Sidestep, Acceleration/Deceleration, and Pirouette Mission Task Elements, as well as a new proposed Emergency Medical Services task that includes an approach and landing at a minimally prepared remote landing site. Degraded visual environments were simulated with night vision goggles and an unaided night scene. A total of nine experimental test pilots participated in the four-week simulation experiment. Data recorded during the evaluation included Cooper-Harper handling qualities ratings, Bedford Workload scale ratings, and task performance. The Usable Cue Environment (UCE) was measured for this simulation experiment, and found to be UCE equals 1 in good visual environments and UCE equals 2 in degraded visual environments with night vision goggles. Results showed that handling qualities ratings were improved with a control system providing short-term attitude response over a rate command system, although the improvements were not sufficient to produce Level 1 handling qualities in degraded visual environments. Results for an Attitude Command/Attitude Hold control system showed that borderline Level 1 handling qualities could be achieved in degraded visual environments, and the 10 percent authority stability augmentation system was adequate to obtain these handling qualities ratings.

Handling Qualities↗

NASA NTRS2014

Wind Tunnel Testing of a 120th Scale Large Civil Tilt-Rotor Model in Airplane and Helicopter Modes

In April 2012 and October 2013, NASA and the U.S. Army jointly conducted a wind tunnel test program examining two notional large tilt rotor designs: NASA's Large Civil Tilt Rotor and the Army's High Efficiency Tilt Rotor. The approximately 6%-scale airframe models (unpowered) were tested without rotors in the U.S. Army 7- by 10-foot wind tunnel at NASA Ames Research Center. Measurements of all six forces and moments acting on the airframe were taken using the wind tunnel scale system. In addition to force and moment measurements, flow visualization using tufts, infrared thermography and oil flow were used to identify flow trajectories, boundary layer transition and areas of flow separation. The purpose of this test was to collect data for the validation of computational fluid dynamics tools, for the development of flight dynamics simulation models, and to validate performance predictions made during conceptual design. This paper focuses on the results for the Large Civil Tilt Rotor model in an airplane mode configuration up to 200 knots of wind tunnel speed. Results are presented with the full airframe model with various wing tip and nacelle configurations, and for a wing-only case also with various wing tip and nacelle configurations. Key results show that the addition of a wing extension outboard of the nacelles produces a significant increase in the lift-to-drag ratio, and interestingly decreases the drag compared to the case where the wing extension is not present. The drag decrease is likely due to complex aerodynamic interactions between the nacelle and wing extension that results in a significant drag benefit.

Wind Tunnel Testing of a 1/20th Scale↗

NASA NTRS2012

Handling Qualities of a Large Civil Tiltrotor in Hover using Translational Rate Command

A Translational Rate Command (TRC) control law has been developed to enable low speed maneuvering of a large civil tiltrotor with minimal pitch changes by means of automatic nacelle angle deflections for longitudinal velocity control. The nacelle actuator bandwidth required to achieve Level 1 handling qualities in hover and the feasibility of additional longitudinal cyclic control to augment low bandwidth nacelle actuation were investigated. A frequency-domain handling qualities criterion characterizing TRC response in terms of bandwidth and phase delay was proposed and validated against a piloted simulation conducted on the NASA-Ames Vertical Motion Simulator. Seven experimental test pilots completed evaluations in the ADS-33E-PRF Hover Mission Task Element (MTE) for a matrix of nacelle actuator bandwidths, equivalent rise times and control response sensitivities, and longitudinal cyclic control allocations. Evaluated against this task, longitudinal phase delay shows the Level 1 boundary is around 0.4 0.5 s. Accordingly, Level 1 handling qualities were achieved either with a nacelle actuator bandwidth greater than 4 rad/s, or by employing longitudinal cyclic control to augment low bandwidth nacelle actuation.

Malpica, Carlos A.↗

NASA NTRS2012

Flight Dynamics and Controls Discipline Overview

This presentation will touch topics, including but not limited to, the objectives and challenges of flight dynamics and controls that deal with the pilot and the cockpit's technology, the flight dynamics and controls discipline tasks, and the full envelope of flight dynamics modeling. In addition, the LCTR 7x10-ft wind tunnel test will also be included along with the optimal trajectories for noise abatement and its investigations on handling quality. Furthermore, previous experiments and their complying results will also be discussed.

Theodore, Colin R.↗

NASA NTRS2011

Flight Dynamics Aspects of a Large Civil Tiltrotor Simulation Using Translational Rate Command

An in-depth analysis of a Large Civil Tiltrotor simulation with a Translational Rate Command control law that uses automatic nacelle deflections for longitudinal velocity control and lateral cyclic for lateral velocity control is presented. Results from piloted real-time simulation experiments and offline time and frequency domain analyses are used to investigate the fundamental flight dynamic and control mechanisms of the control law. The baseline Translational Rate Command conferred handling qualities improvements over an attitude command attitude hold control law but in some scenarios there was a tendency to enter PIO. Nacelle actuator rate limiting strongly influenced the PIO tendency and reducing the rate limits degraded the handling qualities further. Counterintuitively, increasing rate limits also led to a worsening of the handling qualities ratings. This led to the identification of a nacelle rate to rotor longitudinal flapping coupling effect that induced undesired pitching motions proportional to the allowable amount of nacelle rate. A modification that applied a counteracting amount of longitudinal cyclic proportional to the nacelle rate significantly improved the handling qualities. The lateral axis of the Translational Rate Command conferred Level 1 handling qualities in a Lateral Reposition maneuver. Analysis of the influence of the modeling fidelity on the lateral flapping angles is presented. It is showed that the linear modeling approximation is likely to have under-predicted the side-force and therefore under-predicted the lateral flapping at velocities above 15 ft/s. However, at lower velocities, and therefore more weakly influenced by the side force modeling, the accelerations that the control law commands also significantly influenced the peak levels of lateral flapping achieved.

Lawrence, Ben↗

NASA NTRS2011

Evaluation of the Rotational Throttle Interface for Converting Aircraft Utilizing the NASA Ames Vertical Motion Simulator

An experiment was conducted to compare a conventional helicopter Thrust Control Lever (TCL) to the Rotational Throttle Interface (RTI) for tiltrotor aircraft. The RTI is designed to adjust its orientation to match the angle of the tiltrotor s nacelles. The underlying principle behind the design is to increase pilot awareness of the vehicle s configuration state (i.e. nacelle angle). Four test pilots flew multiple runs on seven different experimental courses. Three predominant effects were discovered in the testing of the RTI: 1. Unintentional binding along the control axis resulted in difficulties with precision power setting, 2. Confusion in which way to move the throttle grip was present during RTI transition modes, and 3. Pilots were not able to distinguish small angle differences during RTI transition. In this experiment the pilots were able to successfully perform all of the required tasks with both inceptors although the handling qualities ratings were slightly worse for the RTI partly due to unforeseen deficiencies in the design. Pilots did however report improved understanding of nacelle movement during transitions with the RTI.

Rozovski, David↗

NASA NTRS2011

An Investigation of Large Tilt-Rotor Hover and Low Speed Handling Qualities

A piloted simulation experiment conducted on the NASA-Ames Vertical Motion Simulator evaluated the hover and low speed handling qualities of a large tilt-rotor concept, with particular emphasis on longitudinal and lateral position control. Ten experimental test pilots evaluated different combinations of Attitude Command-Attitude Hold (ACAH) and Translational Rate Command (TRC) response types, nacelle conversion actuator authority limits and inceptor choices. Pilots performed evaluations in revised versions of the ADS-33 Hover, Lateral Reposition and Depart/Abort MTEs and moderate turbulence conditions. Level 2 handling qualities ratings were primarily recorded using ACAH response type in all three of the evaluation maneuvers. The baseline TRC conferred Level 1 handling qualities in the Hover MTE, but there was a tendency to enter into a PIO associated with nacelle actuator rate limiting when employing large, aggressive control inputs. Interestingly, increasing rate limits also led to a reduction in the handling qualities ratings. This led to the identification of a nacelle rate to rotor longitudinal flapping coupling effect that induced undesired, pitching motions proportional to the allowable amount of nacelle rate. A modification that counteracted this effect significantly improved the handling qualities. Evaluation of the different response type variants showed that inclusion of TRC response could provide Level 1 handling qualities in the Lateral Reposition maneuver by reducing coupled pitch and heave off axis responses that otherwise manifest with ACAH. Finally, evaluations in the Depart/Abort maneuver showed that uncertainty about commanded nacelle position and ensuing aircraft response, when manually controlling the nacelle, demanded high levels of attention from the pilot. Additional requirements to maintain pitch attitude within 5 deg compounded the necessary workload.

Malpica, Carlos A.↗

NASA NTRS2010

Development and Operation of an Automatic Rotor Trim Control System for use During the UH-60 Individual Blade Control Wind Tunnel Test

A full-scale wind tunnel test to evaluate the effects of Individual Blade Control (IBC) on the performance, vibration, noise and loads of a UH-60A rotor was recently completed in the National Full-Scale Aerodynamics Complex (NFAC) 40- by 80-Foot Wind Tunnel [1]. A key component of this wind tunnel test was an automatic rotor trim control system that allowed the rotor trim state to be set more precisely, quickly and repeatably than was possible with the rotor operator setting the trim condition manually. The trim control system was also able to maintain the desired trim condition through changes in IBC actuation both in open- and closed-loop IBC modes, and through long-period transients in wind tunnel flow. This ability of the trim control system to automatically set and maintain a steady rotor trim enabled the effects of different IBC inputs to be compared at common trim conditions and to perform these tests quickly without requiring the rotor operator to re-trim the rotor. The trim control system described in this paper was developed specifically for use during the IBC wind tunnel test

Theodore, Colin R.↗