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NASA NTRSDate not supplied

Control Concepts for Simplified Vehicle Operations of a Quadrotor eVTOL Vehicle

Urban Air Mobility (UAM) is a future mode of transportation that will require revolutionary new vehicle concepts and operations. One of the many challenges that these vehicles face is a complex flight control task in a challenging urban environment and in different flight regimes such as hover, forward flight as well as the transitions between both, with a focus on a low workload and minimum required pilot training. This paper discusses the development and evaluation of simplified vehicle operations concepts using representative aircraft models, controls, inceptors and displays. These four aspects are inseparably interconnected. This simplified vehicle operations concept will be evaluated by performing relevant operations within a realistic urban environment. Handling quality evaluations will be performed using modified Mission Task Elements, or Handling Quality Task Elements. This paper focuses on the initial development of controls, inceptors and displays.

Thomas Lombaerts↗

NASA NTRSDate not supplied

Investigation of Longitudinal Aero-Propulsive Interactions of a Small Quadrotor Unmanned Aircraft System

Aerodynamic propulsive and airframe interactions significantly influence the forces and moments of multirotor vehicles. This paper presents recent results studying the influence of these effects on a small quadrotor vehicle in hover and forward flight. Aerodynamic interaction model development was explored utilizing system identification tools and incorporated into a previously developed NASA quadrotor flight dynamic simulation. The aerodynamic interaction model improved accuracy of the simulation in comparison to free-flight and static wind tunnel results. Comparisons between models of different fidelity were completed to demonstrate the effects of aerodynamic interaction on model accuracy and provide recommendations for modelling requirements.

George Altamirano↗

NASA NTRSDate not supplied

Computational Prediction of Broadband Noise from a Representative Unmanned Aerial System Rotor

This work details the application of a lattice-Boltzmann method–very-large-eddy simulation (LBM-VLES) employed by the software suite, PowerFLOW. This LBM-VLES simulation predicted the aeroacoustic noise emanating from a representative, small unmanned aircraft system rotor, namely, the DJI-9450 in a hover condition. Predicted total aerodynamic loading as well as 2D aerodynamic loading along discrete spanwise sections of a rotor blade were compared to lower fidelity predictions and experimental results acquired in the Structural Acoustic Loads and Transmission anechoic chamber facility at the NASA Langley Research Center. The total acoustic spectra were decomposed into tonal and broadband components, which showed that broadband noise was a dominant contributor above 1 kHz for this rotor. These data were then compared to experimentally acquired data, showing good agreement up to approximately 11 kHz. Above 11 kHz, however, a grid sensitivity study showed dependency of the highest resolvable frequency on the spatial resolution of the computational domain, explaining the roll off in predicted data. Individual broadband noise sources were further investigated by calculating one-third octave sound pressure levels of the unsteady pressure fluctuations acting on the rotor, providing evidence that blade self-noise was the prominent noise source. Using these results, blade wake interaction noise was seen to be negligible for this particular rotor, which was further validated by calculating blade vortex miss distances and comparing to theory.

Christopher S. Thurman↗

NASA NTRS2020

Solar Cruiser Technology Maturation Plans

The NASA Marshall Space Flight Center (MSFC) developed the Solar Cruiser mission concept to mature solar sail technology for use in future Heliophysics missions, as well as missions of interest across a broad user community (e.g., space weather and Earth polar observatories). Solar Cruiser will serve as a pathfinder for missions that observe the solar environment from unique vantage points such as a high inclination solar mission opening a fundamentally new range of observational capabilities for the Heliophysics Program and for space weather monitoring. Sustained observations away from the Sun-Earth line (SEL) present unique opportunities for answering the outstanding science questions of Heliophysics, improving space-weather monitoring and prediction, and revealing new information about our Sun and solar system. Propellantless solar sails can be used to create artificial equilibria and maintain indefinite station-keeping at locations sunward of L1 along the SEL, or at any desired offset from the SEL leading or trailing the Earth in its orbit. They can change the heliocentric inclination of a spacecraft from the ecliptic to as high as solar polar, stopping and remaining at any intermediate inclination orbit in between. Sails can be used to hover over the Earth’s poles, using solar photon pressure to offset the Earth’s gravitational attraction, creating functional equivalents of geostationary earth orbits. The Solar Cruiser mission would fly a small spacecraft with a large (>1,600 square meter) solar sail containing embedded reflectivity control devices (RCDs) and photovoltaic cells. The mission concept includes successful deployment of the solar sail, validation of all sail subsystems, controlled station-keeping inside of the Sun-Earth L1 point, attitude control of the sail with the RCDs (including spinning and de-spinning), demonstration of pointing performance for science imaging, and an increase in heliocentric inclination (out of the ecliptic). To demonstrate the requisite sail technology, the Solar Cruiser project will design, fabricate, deploy, and fly the Solar Sail Propulsion Element (SSPE). The SSPE incorporates the following three systems: • The Solar Sail System (SSS) provides the large propulsive surface required for acceleration and smaller reflectivity-changing surfaces for roll control. • The Active Mass Translator System (AMT) provides SSPE motion with respect to the sailcraft bus for pitch and yaw control. • The Solar Sail Attitude Determination and Control System (SSADCS) consists of embedded software to 1) provide autonomous sailcraft attitude estimation, attitude pointing control, and reaction wheel momentum management following sail deployment and 2) execute the uplinked inertial attitude pointing commands to maintain the desired sailcraft trajectory. The plans for maturing each of these technology systems to TRL 5 and beyond are described herein.

Solar Sail↗

NASA NTRSDate not supplied

Design Considerations for a Mars Highland Helicopter

Mars is sharply divided into the relatively low-lying northern hemisphere, filled with plains, to the higher-elevation, rugged, southern hemisphere. All landers sent so far to Mars have only landed on the plains of the northern hemisphere. Access to the Martian Highlands would present an opportunity to acquire unique insights into the early geologic history of Mars. But landing on the Martian highlands presents many engineering challenges. A new approach has recently been proposed to consider the use of mid-air deployment, during the final subsonic stages of entry, descent, and landing, of a small rotorcraft from the aeroshell. The rotorcraft would enter a powered descent state (rotors would be spun to full speed at moderate collectives) after aeroshell release until reaching a modest altitude above the ground where the vehicle would pullout to level flight. After completing this initial EDL mid-air-deployment and landing, the rotorcraft, which would be capable of solar-electric recharging, would recharge over the course of a few days until ready for subsequent flight sorties to explore the highlands. This overall vehicle/mission concept is called the Mars Highland Helicopter. The paper will next demonstrate that a key necessary condition – efficient hover and forward flight under the much thinner atmospheric conditions of the highlands (0.01 kg/m3 vs. 0.015 kg.m3 for the Ingenuity Mars Helicopter Technology Demonstrator at Jezero Crater) – is indeed possible. This paper considers a number of EDL release/deployment strategies to minimize deployment aeroloads and maximize controllability during release from the EDL backshell. This mid-air-deployment discussion will be followed by a general analytical treatment of a Mars rotorcraft entering fully-powered descent and then forward flight cruise.

Mars Highland Helicopter↗

NASA NTRSDate not supplied

A Robust Uniform Control Approach for VTOL Aircraft

We present a uniform control approach for transitioning vertical take-off and landing aircraft. The approach combines several well-understood linear techniques, including robust servomechanism linear quadratic regulation, control allocation, and gain scheduling, to provide a practical control framework that can be used to unify the control design process in all flight regimes. The choice of command variables provides a pilot/operator with a uniform set of intuitive control inputs through all phases of flight while also being easily integrated into autonomous trajectory tracking operations. The control method is applied to the NASA LA-8 aircraft, a tandem tiltwing distributed electric propulsion research vehicle designed at NASA Langley Research Center. The trim envelope of the aircraft is explored and the aircraft control authority analyzed throughout the transition corridor. The uniform control approach is then used to develop reference command tracking controllers for both the longitudinal and lateral-directional dynamics. An example trajectory is simulated to demonstrate how the controller effectively transitions the aircraft from hover to forward flight and vice versa while tracking a desired trajectory.

VTOL↗

NASA NTRS2017

Deflection Assessment for a Gravity Tractor Spacecraft

One proposed method to deflect a potential Earth impacting asteroid is via the “gravity tractor” method. Here, a spacecraft, hovering close to an asteroid using ion engines, uses its gravitational pull to change the asteroid?s orbit away from an impacting path. The proposed Asteroid Redirect Robotic Mission was slated to demonstrate the feasibility of this technique on the asteroid 2008EV5, and measure the amount of deflection. In this paper, the questions of how long the tractoring needs to be to cause a measurable deflection, and how the spacecraft can be used to measure it were examined.

Bhaskaran, Shyam↗

NASA NTRS2021

Medium-Sized Helicopter Noise Abatement Flight Test Data Report

Helicopter noise has consistently hindered operations within urban areas and surrounding communities. To combat this, an extensive flight test campaign, described herein, was conducted to gather acoustic data to support helicopter noise research (e.g., physics-based modeling, operational planning, etc.). Acoustic measurements were collected from four helicopters in the medium-sized weight class with maximum takeoff gross weights between 7,400 and 14,200 lb: a Bell 205 “Huey”, a Sikorsky S-76D, a Leonardo AW139, and a US Coast Guard MH-65 Dolphin (a variant of the commercial Airbus AS365 Dauphin). Each aircraft per- formed a subset of level flyovers, steady descents, turns with various initial conditions, and noise abatement approaches. A distributed ground microphone array spanning approximately 2,000 by 4,000 ft collected measurements of each flyover event. Additionally, a dedicated semicircular microphone array was used for gathering acoustic measurements of static conditions (e.g., hover). This report provides an overview of the flight test methodology, conditions tested, equipment used, and details of the accompanying distribution dataset. Figures of sample results generated for each test point are included to enable comparison and selection of the data at the discretion of the user. Specifically, source noise hemispheres of the steady flight conditions illustrate directivity of over- all levels. Noise contours over the array provide insight into the ground levels associated with approaches and turning events. These data figures are derived from the original acoustic pressure-time histories and vehicle tracking data that are provided in the distribution dataset.

Rotorcraft↗

NASA NTRSDate not supplied

Optimizing Proprotor Blades Using Coupled Aeroacoustic and Aerodynamic Sensitivities

A quieter and aerodynamically more efficient proprotor design requires high-fidelity and well-integrated optimization and analysis tools. To fulfill that requirement, the present paper delivers a methodology based on multidisciplinary, adjoint-based, discrete optimization. SU2-based code development involves the implementation of aeroacoustic analysis, adjoint computations, and integrations into a multidisciplinary rotorcraft optimization suite. Submodules utilized in the optimization are verified with wind tunnel data to demonstrate the accuracy of aerodynamic and aeroacoustic analyses. The developed code is used for NASA's helically twisted proprotor to maximize the aeroacoustic performance of the proprotor while holding thrust constant. The optimization process considers multiple flight conditions (hence, multipoint), which are forward flight and hovering. As an outcome of the analyses, the optimized blade design propagates lower noise as perceived by multiple observers in both flight conditions

R Omur Icke↗

NASA NTRSDate not supplied

Full-Envelope Aero-Propulsive Model Identification for Lift+Cruise Aircraft Using Computational Experiments

This paper describes a process utilizing computational fluid dynamics experiments to develop a reduced-order, integrated propulsion-airframe aerodynamic model for a lift+cruise electric vertical takeoff and landing (eVTOL) reference aircraft concept. eVTOL configurations exhibit aerodynamic characteristics of both fixed-wing and rotary-wing aircraft as well as complex phenomena, such as propulsion-airframe interactions. Consequently, conventional aircraft aerodynamic modeling strategies require modification when applied to these unique aircraft. A novel aero-propulsive modeling approach using design of experiments techniques and computational fluid dynamics simulations is postulated for modeling a lift+cruise aircraft configuration. Aero-propulsive models are developed throughout the operational flight envelope to enable continuous flight dynamics simulations from hover through forward flight. The model adequacy is assessed using validation data acquired separately from data used to identify the model and indicates that the models have sufficient predictive capability. Research findings are presented with a discussion of unique lift+cruise aircraft aerodynamic characteristics and practical strategies to inform future aero-propulsive modeling and simulation efforts for eVTOL aircraft.

lift+cruise↗

NASA NTRSDate not supplied

Integral Velocity Sampling for Unsteady Rotor Models on Cartesian Meshes

An unsteady body-force rotor model utilizing integral velocity sampling is developed for Cartesian meshes with a focus on accurate performance predictions. In this approach, the rotors are modeled as body-force source terms, and integral sampling is used to define the local freestream velocity vector. The method is verified in two dimensions for airfoils, providing accurate angle of attack and freestream Mach number estimates even on relatively coarse meshes, and demonstrating excellent mesh convergence across a variety of source region thicknesses. Extensions of the model to three dimensions for both fixed and rotating wings are considered, with numerical experiments demonstrating the need for a spanwise-continuous representation of the induced velocity or angle of attack. The model provides reasonable spanwise lift distributions without any explicit tip-loss model. Comparisons to high-fidelity simulations and experimental data show excellent agreement for predictions of an isolated DJI Phantom 3 propeller in hover. Finally, simulations of the full aircraft in edgewise forward flight also compare well with wind tunnel data across a variety of pitch angles and propeller speeds.

ARMD↗

NASA NTRS2022

Vertical Climb Testing of the Model 699 Proprotor on the Tiltrotor Test Rig

The Tiltrotor Test Rig (TTR) is a new NASA asset for testing full-scale proprotors. The first test campaign in the National Full-Scale Aerodynamics Facility (NFAC) concluded in November 2018. The wind-tunnel test included vertical climb conditions simulated by axial flow at low airspeeds (true hover is not possible in the NFAC). The rotor tested was the Bell Model 699, an AW609 rotor modified specifically for wind-tunnel testing. The rotor was tested under a variety of NFAC configurations, some unprecedented and unique to vertical climb. This paper presents results for all test configurations applicable to vertical climb, including assessments of data quality. Comparisons with earlier tests of a similar rotor, the 0.656-scale Joint Vertical Experimental (JVX) rotor, are included to provide additional insights into rotor and wind tunnel behavior.

Vertical Climb↗

NASA NTRSDate not supplied

Mars 2020 – Landing a 1-ton rover and helicopter in an ancient Martian Lake

The Mars 2020 spacecraft launched in July 2020 and landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. Mars 2020 is the first stage of the Mars Sample Return campaign that will bring back the first samples from another planet to Earth. The entry, descent, and landing (EDL) sequence of the Mars 2020 spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission from 2012. Mars 2020 retained most of the EDL sequences of MSL, including active maneuvering during hypersonic flight to accurately target the landing site and use of the Skycrane descent stage that slowly lowered the rover while hovering above the ground. But Mars 2020 also added Terrain Relative Navigation, a machine vision-based system that allowed the spacecraft to navigate using an on-board camera that mapped ground landmarks to an on-board map, allowing the spacecraft to safely land in locations that were too hazardous for any previous Martian mission. Come hear about the “Seven Minutes of Terror” and the eight years of effort that went into the engineering behind the spacecraft.

Soumyo Dutta↗

NASA NTRSDate not supplied

High-Fidelity Simulations of a Quadrotor Vehicle for Urban Air Mobility

High-fidelity computational fluid dynamics simulations have been carried out to analyze NASA’s quadrotor air taxi concept for urban air mobility. High-order accurate schemes, dual-time stepping, and the delayed detached-eddy simulation model have been employed. The flow solver has been loosely coupled with the rotorcraft comprehensive analysis code. The vehicle simulated is a six-passenger quadrotor for air taxi operations. The quadrotor has been simulated in hover and cruise, with flight conditions representative of an air taxi mission. Initially, the quadcopter vehicle is analyzed using low-fidelity tools. Then, a complete analysis using high-fidelity simulations of the quadcopter is performed in conjunction with collective pitch control. Airloads, wake geometry, and performance are studied and compared. A comparison between isolated rotors and complete vehicle simulations is presented. NASA’s quadrotor is one of NASA’s concept vehicles designed in support of aircraft development for vertical take-off and landing air taxi operations.

ARMD↗

NASA NTRSDate not supplied

Comparison of the CHARM Predictions of the Multirotor Test Bed with Wind Tunnel Experimental Results

Urban air mobility as a fast transportation solution has captured the attention of private companies and government aviation departments in the 21st century. New designs of aerial vehicles are being developed to meet industry needs but often neglect the aerodynamic characteristics and the effects of interacting rotors. This work focuses on predicting rotor behavior and understanding the importance of the rotor wake interaction for future urban air mobility (UAM) designs. The Multirotor Test Bed (MTB) project was initiated at NASA Ames Research center to support the NASA Revolutionary Vertical Lift Technology Project to study rotorcraft performance specifically for multirotor aircraft. The MTB is a modular multirotor test stand that makes testing feasible for up to six rotors at different angles and rotor arrangements, including Tall and Short configurations at different horizontal and vertical rotor separation distances. The MTB was tested in the U.S Army’s 7-by 10-Foot Wind Tunnel at NASA Ames Research Center in late 2019. This work focuses on exploring the impact of aerodynamic interactions between the MTB rotors using the Comprehensive Hierarchical Aeromechanics Rotorcraft Model (CHARM) software. The CHARM software is capable of modeling Vertical Take Off and Landing aircraft aerodynamics in maneuvering and steady flight conditions. CHARM allows the user to define flow and body characteristics, including the rotor geometry, aerodynamic conditions, wind tunnel speed, and airfoil tables as inputs. As the first step, a single MTB rotor was simulated in hover, and the results were compared with wind tunnel test data to confirm the CHARM parameters. Once the accurate performance was verified, the MTB rotors were simulated in forward flight, and each rotor was trimmed to the measured thrust. The simulation variables include one, two, four, and six rotors at the Short and Tall configurations, with MTB pitch angles of 0, -5, and -10 degrees. The MTB was simulated with and without wind tunnel walls. These results demonstrate the rotor wake interaction and its impact on rotor performance. This information also helps determine which configurations should be explored for future wind tunnel tests.

CHARM Predictions↗

NASA NTRSDate not supplied

Overview and Introduction of the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) Project

Research in pursuit of rotorcraft flight on Mars has been ongoing since the late 1990s at NASA Ames Research Center. Since then, many other organizations have also begun researching rotary-wing flight on Mars. In 2014, the project that led to the first helicopter to fly on Mars began at the Jet Propulsion Laboratory. Ingenuity was developed as a joint effort between JPL, NASA Ames, NASA Langley, and AeroVironment. The Ingenuity Mars Helicopter made history in April 2021 as the first vehicle demonstrating controlled, powered flight on another planet and, in doing so, it has opened a new era of planetary aviation. Future, more capable Mars rotorcraft will be able to fly even further and carry significant science payload. At NASA Ames, through NASA Space Technology Mission Directorate funding, the research necessary to help develop the next generation of Mars rotorcraft has begun with the Rotor Optimization for the Advancement of Mars eXploration (ROAMX) project. The ROAMX project involves computationally and experimentally investigating aerodynamically efficient, compressible, low-Reynolds number airfoils for rotor blades and, further, new high-performance rotor designs. ROAMX is also developing and validating a rotor design methodology to optimize blades given specific mission requirements. The primary experimental effort of the ROAMX project is focused on rotor hover performance, but subsequent airfoil and rotor design advances are anticipated to carry over into improvements in forward flight efficiency. ROAMX is a collaboration between NASA Ames, JPL, the University of Maryland, AeroVironment, and Tohoku University.

Rotor Optimization for the Advancement of Mars eXp↗

NASA NTRS2022

What would it take to manufacture perovskite solar cells in space?

Imagine, astronauts land on the moon. They verify their arrival with mission control, and perform system checks and validations. After the dust settles, they open the airlock of the landing vehicle and venture outside. A side hatch opens, and a flexible substrate slowly unfurls on a boom. A series of printer heads raster, hovering over the substrate and sequentially vapor-depositing the constituent layers of a perovskite solar module (Figure 1). In time, a 1-megawatt array has been manufactured on the moon and can now be connected to supply power to the Artemis Base Camp. This ambitious vision could someday become a reality. On August 29, 2021, a SpaceX Falcon 9 rocket launched a commercial resupply payload from Kennedy Space Center en route to the International Space Station (ISS). On board were perovskite solar cells that will fly for 6 months outside the ISS in low earth orbit (LEO) on the 15th Materials International Space Station Experiment (MISSE-15). This will be the first long duration flight of perovskite solar cell devices in LEO and a major step toward realizing the in-space operation and, potentially, manufacture of perovskite solar cells.

Lyndsey McMillon-Brown↗

NASA NTRSDate not supplied

Propulsive trajectory optimization to minimize surface contamination

MOTIVATION: We present an optimization technique for propulsive vehicles that autonomously minimizes contamination during surface approach and landing. In addition to short-range hoppers, the optimization technique is also fully applicable to traditional orbit-to-surface landers. This study addresses scenarios where surface alterations from propulsion events are counterproductive or hazardous to the mission objectives. This is of immediate interest for landers (whether human or robotic), that may rely on pristine soils collected in the immediate vicinity of landing sites to accomplish science investigations, mining, or ISRU surface operations. Such missions are averse to various surface-plume interactions such as thermal scoring, physical agitation, and contamination. The capability can be applied with minimal impact to the baseline mission concept. METHODS: Optimization algorithms have been developed to calculate descent trajectories and maneuvers, thrust magnitude, and attitude for various mission cases. These parameters are determined as an optimal solution when minimizing either fuel consumption, contamination deposited at the landing site, or some weighted combination of both. Among constraints imposed on the solution, we examined pitch rate, vertical takeoff and vertical landing (VTVL) requirements, size of the contamination zone, and minimum ground clearance during flight. This tool provides unique, non-intuitive solutions and can be a valuable resource for mission planners. RESULTS: A variety of agile trajectory solutions were obtained, each yielding different reductions in landing site contamination and corresponding to only modest increases in fuel consumption. Several optimal trajectories were obtained by varying the contamination weight in the fitness function. As expected, when the contamination weight is zero, the trajectory appears close to parabolic since the optimization scheme only attempts to minimize for fuel utilization, yielding essentially, the expected ballistic trajectory. Notably for contamination weights greater than zero, trajectory inflections are observed in the descent phase, which manifests as hovering or additional, mini “pseudo hops” before the final touchdown. A trajectory inflection is characterized by arresting the majority of the spacecraft vertical velocity component at a coordinate outside of the landing target, and without violating ground clearance constraints. FUTURE WORK: Our optimization technique is ready for laboratory or field demonstrations to validate the sophisticated maneuvering solutions obtained for fuel optimization and surface preservation. An appropriate testbed would validate the optimal guidance algorithms, the navigation system, and sensor suite by emulating vehicle flight in closed loop robotic tests. Critically, these algorithms could then be ported to flight software for implementation.

surface contamination↗