Académique Documents
Professionnel Documents
Culture Documents
Abstract
Faculty of Technical Sciences, University of Pristina, e-mail: maricicn@beotel.yu
317
318 N.Maricic
1 Introduction
2 Problem statement
Let, for sake of easier deriving interpretation, the advent of the lift-
ing surface flutter be analyzed. Due to the simplicity of consideration,
let only three modes be enclosed, and one of this modes be command
system (surface) rotation mode. Based on the assumption about the
structural and aerodynamic model linearity w.r.t. oscillations ampli-
tudes, the problem defines the following equations system of the flutter
eigenvalues:
3
X
{r,s r [ 2 r2 (1 + igr + ig)] + Ar,s }qr = 0; r = 1, (1), 3. (1)
s=1
+ M [(t), (t)]
Ih (t) = Maero (t). (2)
+ M [(t), (t)]
Ih (t) = 0. (3)
d(...)
Q(p) + R(p)M (, p) = 0; p= , (4)
dt
where Q(p) and R(p) are polynomials and M[(t), (t)] is a nonlinear
function.
If the solution of Equation (3) is a periodical function, the concept
of harmonic linearization based on [7] can be used. Applied to the
nonlinear Equation (2), if the exiting moment Maero (t) is harmonic, i.e.,
aero sin(t + ).
Maero (t) = M
(t) = sin(t). (5)
= b1 sin(t) + b2 cos(t).
M (, ) (6)
Z2 Z2
1 1
b1 = M (, )sin(t)d(t); b2 = M (, )cos(t)d(t). (7)
0 0
Let
= K (t) + BI (t).
M (, ) (8)
= K sin(t)
M (, )
+ BI cos(t). (9)
b1 = K ;
b2 = BI . (10)
+ BI (t)
Ih (t) + K (t) = 0. (11)
+ B (t)
(t) + (t) = 0,
= Ih 2 ; B = g; = 2 . (14)
By comparing Equation (12) and Equation (13), taking into account the
relations in Equation (14) it follows:
B = BI 2 ; = K 2 . (15)
B g 2
BI = 2 = 2 = gIh ; K = 2 = 2 Ih . (16)
b1 = K = 2 Ih ;
b2 = BI = g 2 Ih .
Let for lifting surface considered the rotation of its command surface
be the third mode. If for this mode its nonlinear hysteresis loop M(, )
is known, based on Equation (7) and Equation (8) the corresponding
coefficients b1 and b2 can be calculated. Substituting into Equation
(17) it follows:
b1 b2
32 = ; g3 = .
Ih b1
3
X
{r,s r [ 2 r2 (1 + igr + ig)] + Ar,s }qr = 0; r = 1, 2;
s=1
(18)
b1 b2
A3,1 q1 + A3,2 q2 + {Ih 2 [ 2 (1 + i + ig)] + A3,3 }q3 = 0.
Ih b1
The command surface performs nonlinear oscillations with amplitude.
The linear system Equation (18) w.r.t amplitude , via the param-
b1 and b2 is containing implicit the nonlinear function M(, ).
eters ,
324 N.Maricic
ZZ ZZ
r = 1[kgm ] = 2
m (hr / r )2 dS = m h2r dS; hr = hr / r .
S S
That means, with known mode shapes and their generalized masses,
calculation of the generalized aerodynamic forces matrices and the flut-
ter eigenvalues in [9] is realized via the set of inertial normalized mode
shapes of the unit generalized masses.
For the inertial normalized mode shapes r = s = 1 [kg m2 ], the
corresponding elements of the generalized aerodynamic forces matrix
can be expressed in the following way:
ZZ ZZ
Ar,s h Cp Cp
Ar,s = = r s dS = hr Cps dS; Cps = s .
r s r s s
S S
2 2 b2
A,1
q1 + A,2
2
q2 + {Ih ( ) [ (1 + i + ig)] + A,
}q = 0.
b1
h h2 ref.
Rh
h1 = 1 ; h2 = 2 ; href.
= ref. Rh = p ,
1 2 ref
where Rh is the distance of the material point measured from the hinge
axis of the command surface. The generalized mass of the rotation mode,
based on the third equality of the upper relation, is:
ref.
=Ih (ref.
)2 ; ref. = 1[kgm2 ].
After inertial normalization the Equation system (19), acquires the
form:
ZZ href. ZZ
Cps
Aref ,s = q dS = href. Cps dS; (21)
S
Ih (ref.
)2 s S
ZZ href. Cpref. ZZ
Aref. ,ref. = q q dS = href. Cpref. dS.
Ih (ref. )2
Ih (ref. )2
S S
Anonlin. ,1 q1 + Anonlin. ,2 q2 +
(b1 )nonlin. (b2 )nonlin.
{Ih (nonlin.
)2 [ 2 (1+i +ig)]+Anonlin. ,nonlin. }q = 0.
Ih nonlin. (b1 )nonlin.
The generalized mass of the command surface rotation mode in this case
is:
nonlin.
=Ih (nonlin.
)2 .
Cp Cpnonlin. Cp 1
Cpnonlin. = = ,
nonlin. nonlin. Ih
Cp Cpref. Cp 1
Cpref. = p = .
ref. ref
Ih
Cpnonlin. Cpref.
= p Cpnonlin. =Cpref. . (23)
nonlin. ref
(24)
Influence of structural backlash and friction... 329
h Rh h
hnonlin. = nonlin. = = p ref. = href. .
nonlin.
Ih ref
where
Based on Equation (24), Equation (25) and Equation (26), the Equa-
tion system (22) reduces to the system:
M [(t), (t)] = Maero (t).
full period of the variable (t) = 0. For each next period of the variable
(t), the same approximation of the nonlinear function holds, because
the variable (t) based on Equation (5) is a pure harmonic function. By
the stated, it was achieved that for any oscillations period of the variable
in Equation (5), the nonlinear function M[,] is approximated with the
desired accuracy by arranged pairs of centrally symmetrical segments.
is an odd function, then the con-
The condition from [7] if M[ , ]
stant member b 0 in the Fouriers development of this function equals
zero can be proven based on the previously displayed approximation
of this function by a set of arranged pairs of centrally symmetrical seg-
ments. Let the arranged pair of centrally symmetrical segments be given
as in Figure 1(c).
The points designated in Figure 1(c) were determined by the follow-
ing coordinates in the amplitude and time domains:
Let the segments ABand CD be the j-the arranged pair of the centrally
symmetrical segments. Then, in the amplitude domain is:
AB : M = k( A ) + MA ; CD : M = k( A ) MA ,
MB MA
= sin(t); k= .
B A
ZtB
1
(bj0 )p = {k[sin(t) A ] + MA }d(t), (28)
tA
Influence of structural backlash and friction... 333
tZB +
1
(bj0 )m = {k[sin(t) + A ] MA }d(t).
tA +
If n is the number of the arranged pairs, by which the function M[,]
is approximated, then it follows:
n
X
b0 = bj0 = 0. (29)
j=1
4.2
First member of Fourier expansion of M [(t), (t)]
By applying the concept outlined in the Chapter 4.1., for the j-the pair
of centrally symmetrical segments, defined in Figure 1(c), bj1 and bj2 can
be calculated. According to that figure, it holds that:
M2,j M1,j
= sin(t); kj = ,
2,j 1,j
1,j
1,j =t1,j = arcsin ; 1,j {0, ],
2,j
2,j =t2,j = arcsin ; 2,j {0, ].
Then it is:
ZtB
1
bj1 = {k[sin(t) A ] + MA }sin(t)d(t)+
tA
tZB +
1
{k[sin(t) + A ] MA }sin(t)d(t),
tA +
ZtB
1
bj2 = {k[sin(t) A ] + MA }cos(t)d(t)+
tA
tZB +
1
{k[sin(t) + A ] MA }cos(t)d(t).
tA +
Influence of structural backlash and friction... 335
1
2,j 1,j ) + kj [sin(21,j ) sin(22,j )] + 2(kj 1,j
bj1 = {kj (
2
M1,j )(cos2,j cos1,j )}, (30)
1 kj
bj2 = { [cos(21,j ) cos(22,j )] 2(kj 1,j M1,j )(sin2,j sin1,j )}.
2
4.3 Examples
The procedure from Chapters 4.1. and 4.2. are used in two examples
to demonstrate the development of the nonlinear centrally symmetrical
functions M[,] into the corresponding Fourier series. The examples are
taken from [3] and [5] and are using for the verification of the procedure
proposed.
The first example, illustrated in Figure 2(a), is representing the sim-
function, i.e., the hysteresis loop of the centrally
plest case of the M[,]
symmetrical backlash without friction.
Let, in the amplitude and time domains, the following points are
defined:
OA CD : M = 0; AB BC : M = k( A );
MB
= sin(t); k= .
A
1
b1 = {k [ 2A + sin(2A )] 4kA cosA }; b2 = 0, (32)
A
A = tA = arcsin ; = B .
The obtained relations in Equations (32) are the same as the results
is describing a centrally symmetrical frictionless
in [3] and [4]. As M[,]
case, it must be b0 =0 and b2 =0.
Second example was taken from [5]. On Figure 2(b) the function
M[,] is given.
Let according to Figure 2(b) the following points are defined:
E[0, MA ] E[, MA ].
OA : M = MA
AB : M = k1 ( A ) + MA
BC : M + MB = k2 ( )
= k2 ( ) + k1 ( A ) + MA
CD : M = k1 ( C ) + MC = k1 ( C + A ) + k2 (C )
+ MA
DE : M = MA
MB MA MB MC
= sin(t); k1 = ; k2 = .
A C
By applying Equation (30) and Equation (31), for ( > A ) and
(C > D ), it follows:
1 k1
b1 = { [ 2(tA tD + tC ) + sin(2tA )
2
k2
sin(2tD ) + sin(2tC )] + [2tC
2
sin(2tC )] 2k1 A cos(tA )+
2(k2 k1 )C cos(tC ) + 2k1 D cos(tD )}, (33)
1 k1
b2 = { [1 + cos(2tA ) cos(2tD )+
2
k2
cos(2tC )] [1 + cos(2tC )]
2
338 N.Maricic
5 Numerical example
Described problem is well known in flutter analysis, but on the other
hand it is difficult to find appropriate data in aeroelastic literature for
verification of in the paper proposed procedure. Thats the why AGARD
has announced report [1].
Results from testing of nonlinear flutter of half span wing model
with aileron in wind tunnel are given in [1]. Mode of the first rota-
tion of aileron contains structural nonlinearity respective to amplitude
of ailerons rotation. Based on [1] it was impossible to replicate all neces-
sary input data, but obtained calculation results from proposed method
given in this paper are very similar to the results in [1].
Dimensions of half span wing aileron model are given on Figure 3.
Ground vibration test was performed on model and obtained mea-
sured modal characteristics j (generalized mass), fj (eigen frequency)
and gj (modal structural damping) are given on Figure 4 with normal
mode shapes of significant three modes. Only the first mode was non-
linear.
Influence of structural backlash and friction... 339
number of amplitudes for selected nonlinear mode and other two linear
modes using software FLUTTER. Obtained results are given on Figure
6.
The equivalent aileron hinge stiffness of the nonlinear model as a
function of the amplitude ratio nonlin. /(z )0 is plotted on Figure 7. Flut-
342 N.Maricic
ter boundary of the model vs. the equivalent aileron hinge stiffness is
given on Figure 8.
Calculated results given in this paper agree very well respective to
results in [1].
6 Conclusion
The form of the nonlinearity encountered on actual aircraft structures
is in general not very well known and is an area worthy of further re-
search. In absence of more definite information, two relatively simple
characteristic types of structural nonlinearities are studied: backlash
and centrally symmetric hysteresis loop.
The theoretical approach based on harmonic linearization is devel-
oped in details. One nonlinear mode is incorporated into classic flutter
equations. For any amplitude of oscillation of the nonlinear mode classic
calculation of critical flutter speed can be done. Calculation of nonlinear
characteristics of selected nonlinear mode is automated by the developed
software NELZAZ.
The presented procedure is tested on example [1]. Good coincidence
to experimentally obtained results is achieved. The results of this inves-
tigation (Figure 6) show that nonlinear effects can influence the flutter
speed significantly.
The results of presented investigation can be used in engineering
practice for incorporation in flutter analysis a great number of nonlin-
ear cases such as: nonlinear rotation of classic command system surface
and its tab, nonlinear characteristics of servo-actuator, nonlinear modal
motion of external store, etc. Per example, nonlinear analysis of exter-
nal store oscillation influences directly to the value of tightening torque
between the store and its pod.
Using the developed procedure critical analysis of different recom-
mendations given in various airworthiness regulations can be done for
distinguished hysteresis loops of classical command systems of aircrafts.
Direct application of the outlined results is that any nonlinear command
system (with one nonlinear mode) flutter problem can be analyzed.
The further investigations will be focused to the incorporation into
flutter analysis effects of asymmetric hysteresis loops, nonlinear charac-
Influence of structural backlash and friction... 343
References
[1] E.Breitbach: Effects of Structural Non-Linearities on Aircraft Vi-
bration and Flutter, AGARD No. 665, 1977.