6.

DYNAMICS
DAMPED SINGLE DEGREE OF FREEDOM SYSTEM
GENESIS
kM
c
2
= ,
M
k
n
= e
F(t)
) ( 2
2
t F x x x
n n
= + + e ,e

M
k
c
x
FREE RESPONSE F(t)=0
(Damped Single Degree of Freedom System)
(Complementary Solution)
1. Defines response to Initial Conditions
2. Defines stability of system
a. Stable (Positive Damping)
b. Unstable (Negative Damping)
c. Neutral Stability (No Damping)
FREE VIBRATION F(t)=0
Damping Coefficient (zeta) ~0.11/(Cycles to Half Amplitude)
~
FORCED VIBRATION
TIME DEPENDENT
Steady
Harmonic
Periodic but not Harmonic
Random

SOURCE
Aerodynamics
Inertial
Coupling with Fuselage
RESPONSE TO HARMONIC FORCE
=
=
= u
+ =
=
=
u + =
= + +

,
e
,
,
e
e ,e
M k
r r
r r sqrt AmpFactor
q r
k F x
t q x AmpFactor x
t q F x x x
n
n
st
st ss
n n
) 1 /( * * 2 ( tan
) * 4 ) 1 (( 1
/
/
) * sin( * * ) (
) * sin( 2
2 1
2 2 2 2
2

RESPONSE TO HARMONIC FORCE
(Damped Single Degree of Freedom System)
(Particular Solution)
1. Steady State Response will occur at
Forcing Function Frequency and will
Have Magnitude and Phase Angle

2. Steady State Response is a function
a. Frequency Ratio (force freq/nat freq)
b. Damping
c. Magnitude of Harmonic Force
FORCED RESPONSE
(Amplification Factor)
FORCED RESPONSE
Phase Angle
PHASE ANGLE
Harmonic External Force
PHASE ANGLE
Forcing Function Freq< Natural Frequency
PHASE ANGLE
Forcing Function Freq > Natural Frequency
PHASE ANGLE
Forcing Function Freq = Natural Frequency
ELASTIC BEAM VIBRATIONS
t) f(x, / / ) / (
2 2 2 2 2 2
+ c c = c c c c t y A x x y EI

=
=
1 n
n
t)) ( ))( ( (y t) y(x,
n
x o
F(x,t)
x
y
Blade Natural Frequencies RPM=300
-1.5
-1
-0.5
0
0.5
1
1.5
0 50 100 150 200 250 300
Radial Location (inch)
O
u
t
-
o
f
-
P
l
a
n
e

D
i
s
p
l
a
c
e
m
e
n
t
ELASTIC MODES FOR CANTILEVER BEAM
1
st
Mode
2
nd
Mode
3
rd
Mode
MODE SHAPE PROPERTIES
1. Have a distinct Natural Frequency
2. Satisfy Boundary Conditions
3. For an Orthogonal Set
4. Can be Obtained Analytically or
Experimentally
GENERALIZED COORDINATES
FOR EACH MODE:
Transients ForcedVib t
dx x GI
dx x F
GI F
n
L
n
L
n
n n n n n n n
+ =
=
=
= + +
}
}
) (
)) ( A(y
)) ( t)(y f(x,
/ 2
0
2
n
n
0
2
o

o e o ,e o

Rotor Dynamics

SOURCE OF HARMONIC FORCING
FUNCTION ON ROTOR BLADE
HELICOPTER PROBLEM #3
Harmonic External Aerodynamic Forces
HELICOPTER PROBLEM #2

2/Rev : t) Cos(2 * ) 2 /
2
(V -
1/Rev : t) VSin( * r 2
Steady : 2 /
2
V
2
r) (
t) (
2
Sin
2
V t) VSin( * r 2
2
r) (
2
t)) VSin( r (
2
T
U dD
t) VSin( r
T
U
Speed Fwd : V
Speed Rotor :
O
O O +
+ O =
O + O O + O =
O + O =
~
O + O =
O
O
dD
r
Blade aerodynamic forces are harmonic functions of rotor speed
RELATIVE MAGNITUDE OF AERODYNAMIC
FORCES ACTING ON BLADE
.... Re / 3 Re / 2 Re / 1
045 . 0 2 / Re / 2
6 . 0 2 Re / 1
045 . 1 2 / 1 Steady
0.3
R v/ Ratio Advance
SPEED TIP R
SPEED FORWARD v
2
2
v v v
v
v
> >
= =
= =
= + =
=
O = =
= O
=

RIGID BODY FLAPPING

Speed Rotation Freq Natural Flapping :
0 I I
Airloads Zero Assume
I I
I
1 ) cos( ) sin( angle Small Assume
)dm )rsin( cos( I M
2
0 0
0
2
0 0
0
2
0
0 0
2
O O
= O =
= B O + B
|
|
.
|

\
|
= B O + B
=
~ B B ~ B
B B O = B =
}
}
} }

n
R
R
R R
rdL
dm r
r rDL
e



r
dL
0
B
CF
O
RIGID BODY LEAD LAG MOTION
-
-

O
CF
e
D
o
Lead Lag Hinge
Lead Lag Spring K

O O
I M =

2
1
2
O
I
K
e - R
3e
)
`

O
+ =

e
R=Blade Radius
D=Drag=0
O
IN PLANE NATURAL FREQUENCY
Inplane Natural Frequency
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Stiff In Plane Soft In
Plane
Plane In Soft Rev / 3 . 0 09 . 0 0 K If
06 . 0
e - R
e
: Example
= =
O
=
=

e
O

e
2
I
K
O
1/REV BLADE CHORD BENDING MOMENT
0
1
2
3
4
5
6
7
8
0 0.5 1 1.5 2
1 st InPlane Nat Freq/RPM
M
a
g
n
i
f
i
c
a
t
i
o
n

F
a
c
t
o
r
Design Chord Bending Moment
=Ext Applied Chord Bending Moment * Magnification Factor
Soft In Plane
Rotor
Stiff In Plane
Rotor
Practical
Upper Limit
APPLICATIONS
All multi-bladed helicopter rotors are Soft In Plane for
reduced rotor weight due to lower design loads but are
subject to Ground Resonance.
All two bladed helicopter rotors are Stiff In Plane and not
subject to Ground Resonance and achieve lower design
loads due to mast bending flexibility.
All multi-bladed tilt rotors are stiff in plane to avoid Ground
Resonance
PROPELLOR MOMENT
(Tennis Racket Moment)
F
a a

F

R
L
Top View
End View
2 / )) 2 sin( -(I M
2mc I
) cos( ) sin( 2 ) sin(2
)) )cos( sin( 2(mc
) sin( )c sin -(2F M
) cos( c m
))/L cos( c (mL Fsin
))/L cos( (c sin
) cos( c a
a/L sin
mL F
2
2
2 2
2
2
2
O O =
=
O O = O
O O O =
O =
O O =
O O =
O =
O =
=
O =

) sin( F
) sin( F
-
- -
-
-
BLADE COUPLING
FLAP-LAG
F
Inertia of Axis Principal : I
b
b
x
o
y
o
Force F, not acting along Principal Axes of Inertia,
produces unsymmetrical bending
BLADE COUPLING
Lag-Pitch
Swash Plate
Canted
Pitch Horn
Blade Lag Motion
O
Canted
Pitch Horn
Bottom of Pitch Horn is Attached to Swash Plate
EFFECTS OF BLADE MOTION ON
AERODYNAMIC FORCES

Flapping Motion: The flapping velocity changes the changes
the airflow components hitting the airfoil causing a change in
the angle of attack which in turn changes the lift making the
flapping velocity act like flap damping. The damping factor
associated with the flapping mode is ~0.35.

Lead Lag motion has very little, if any, effect of the
aerodynamic forces.

Torisonal motion directly changes the angle of attack, and
thus acts as a spring.
CENTRIFUGAL FORCE EFFECTS ON
ELASTIC BLADE MOTION

O
Out/Plane
O
In/Plane

y
CF
z
MAJOR EFFECT
MINOR EFFECT
Blade Natural Frequencies RPM=300
-1.5
-1
-0.5
0
0.5
1
1.5
0 50 100 150 200 250 300
Radial Location (inch)
O
u
t
-
o
f
-
P
l
a
n
e

D
i
s
p
l
a
c
e
m
e
n
t
ROTOR BLADE OUT/PLANE MODES


RPM 300 = O
1.05/Rev / Mode 1
st
= O e
Rev / 93 . 2 / Mode 2 = O e
nd
v
rd
Re / 37 . 4 / Mode 3 = O e
NATURAL FREQUENCIES OF A
ROTATING BEAM
ROTOR RPM
F
R
E
Q
U
E
N
C
Y

3/Rev Aero
2/Rev Aero
1/Rev Aero
INPLANE NAT FREQ
OUT PLANE NAT FREQ
O
P
E
R
A
T
I
N
G

R
P
M

FAN PLOT
100 200 300 400
400
800
1200
1600
ROTOR RPM
N
A
T
.

F
R
E
Q

C
P
M

1/REV AERO
2/REV AERO
Mode Torsion
Mode Plane Out O
Mode Plane In
SYMBOLS
+
A
FORCES ACTING ON ROTOR BLADE
Aerodynamic:
Fuselage Rigid Body Motion U,V,W
Rigid Blade: Flapping, Lead Lag, Pilot Inputs
Interference

Inertial:
Centrifugal
Fuselage Maneuvering
Gyroscopic

Aeroelastic
Effects of Elastic Fuselage or Elastic Blade Motion

HUB MOUNTED CAMERA LOOKING OUT
THE BLADE
INPLANE CORIOLIS FORCE DUE TO
OUT/PLANE CONING & FLAPPING
Forces Plane In 2/Rev and 1/Rev both Produces
-2mR F
0 ) sin( 1 ) cos(
) )sin( cos( -2mR I
)) cos( * (R * m I
I I )/dt d(I ) cos( * R * F M
c
2
2
c
O =
= O ~ ~
=
=
O + O = O = =

| |
| | |
| | |
|
|

O
) Rcos(|
|
m
O
PITCH FLAP COUPLING
P
O
3
o
) Lsin(
3
o
) Lcos(
3
o
F
l
a
p
p
i
n
g

A
x
i
s

Feathering Axis
BLADE
) -tan( /
)) (Lcos( / -h ) ( Feathering Blade
Restrained is P Point BUT ) sin( L h
) ( Flapping to due ed) unrestrain (if P Point of Disp Vertical
3
3 p
3 p
o |
o
o |
|
= A AO
= O
=
3
o
Delta-3 Applications
Rotor Flapping with Delta-3 =
Rotor Flapping without Delta-3 X cos(Delta-3)

+ and Delta 3 have same steady state effect

Delta-3 used on tail rotors to reduce 1/Rev Flapping to
reduce 2/Rev In Plane Coriolis Force

Delta-3 not used on Main Rotors because it cross couples
rotor controls.
Fuselage Vibrations
HUMAN RESPONSE TO VERTICAL VIBS
0
0.05
0.1
0.15
0.2
0.25
0.3
0 10 20 30
Frequency (HZ)
A
c
c
e
l
e
r
a
t
i
o
n


g
'
s
2.5 Hours
4 Hour
8 Hours
1 Hour
Jet Smooth
0.o5 gs
ROTOR FORCES TRANSMITTED TO HUB
t))/2 sin(2 t) D(sin(4 t))/2 cos(4 - ) D(cos(2
t) t)cos( Dsin(3 t) t)sin( Dsin(3
t) cos( F F t) sin( F F
R y R x
O + O = O O =
O O = O O =
O = O =
t) Dsin(3 F
R
O =
y
F
x
F
O
t O
In Plane Rotor Forces at N/Rev Will Produce Fuselage
Forces at N+1/Rev & N-1/Rev
INERTIA FORCES ACTING ON ROTOR
PROCUCED BY HUB ACCELERATION
O
t O
t) 3 sin( X X
h h
O =

F
t cos(3 Y Y
h h
O =

| | 2 / t)) cos(4 - t) (cos(2 X t)) sin(2 t) (cos(4 Y m
t)) t)cos( cos(3 Y t) t)sin( sin(3 m(X
t)) cos( Y t) sin( X m( F
h h
h h
h h
O O + O + O =
O O + O O =
O + O =

In Plane Hub Accelerations at N/Rev Will Produce In Plane
Rotor Forces at N+1/Rev & N-1/Rev
COUPLING BETWEEN INPLANE
HARMONIC FORCES AND FUSELAGE
VIBRATIONS

All inplane Harmonic Forces Occurring
At (nb +/-1)/Rev will be Transmitted to the
Fuselage at nb/Rev b=#blades n=1,2,3..

All other Inplance harmonic forces will be Reacted
within the rotor system and will not be transmitted
to the fuselage
COUPLING BETWEEN OUT OF PLANE HARMONIC
FORCES AND FUSELAGE VIBRATIONS
All Out of Plane Harmonic Forces Occurring
At nb/Rev will be Transmitted to the Fuselage at
nb/Rev b=number of blades n=1,2,3..

If the rotor has Flapping Restraint then
Out of Plane forces at (nb+/1)/rev can produce
A Fuselage Pitching or Rolling Moment
At nb/rev

All other Out of Plane harmonic forces will be
Reacted within the rotor system and will not be
transmitted to the fuselage
TRANSMISSIBILITY SUMMARY FOR A
ROTOR SYSTEM WITH b BLADES
Goal for the Jet Smooth Helicopter:
Fuselage Vibrations at all flight conditions, over the to fuselage:
<0.05 gs at nb/rev
COUPLING BETWEEN OUT/PLANE
ROTOR FORCES AND FUSELAGE

EFFECTS OF OUT/PLANE ROTOR FORCES


HARMONIC 2 Bladed Teetering 4 Bladed
Rotor Rotor


1/Rev 1/Rev Rigid Body 1/Rev Elastic
Flapping Bending


2/Rev 2/Rev Elastic Bending 2/Rev Elastic
2/Rev Fuselage Vibs No Fuse Vibs

3/Rev 3/Rev Elastic Bend 3/Rev Elastic


4/Rev 4/Rev Elastic Bend 4/Rev Elastic

4/Rev Fuselage Vibs 4/Rev Fuse Vibs
COUPLING BETWEEN IN PLANE ROTOR
FORCES AND FUSELAGE
EFFECTS OF IN/PLANE ROTOR FORCES

HARMONIC 2 Bladed Teetering Rotor 4 Bladed Rotor

1/Rev 2/Rev Mast Bending High 1/Rev
2/Rev Fuse Vibs Chord Bend Mom
Low 1/Rev CBM

2/Rev 2/Rev Mast Wind Up High 2/Rev CBM
Low 2/Rev CBM

3/Rev 2/Rev & 4/Rev 4/Rev Fuse Vibs
Fuse Vibs

4/Rev 4/Rev Mast Wind Up 4/Rev Mast Wind Up

HUMAN RESPONSE TO # OF BLADES
0
0.05
0.1
0.15
0.2
0.25
0.3
0 10 20 30
Frequency (HZ)
A
c
c
e
l
e
r
a
t
i
o
n


g
'
s
2.5 Hours
4 Hour
8 Hours
1 Hour
Jet Smooth
0.o5 gs
2 Blade M/R
4 Blade M/R
6 Blade M/R

Produced by Dissimilar Blades

TREATMENT
Manufacturing Quality Control
Static Balance (weight pockets)
Whirl Testing
Flight Line Techniques
Trim tab adjustments
Changing length of pitch link


Fuselage 1/rev vibrations can indicate the health of the Rotor
System
FUSELAGE 1/REV VIBRATIONS
FUSELAGE VIBRATION REDUCTION
DEVICES
PASSIVE

ACTIVE

Vibration Reduction Devices can weight
up to 2% take off gross weight.

PASSIVE VIBRATION REDUCTION
ATTENUATOR
XMSN
FUSEAGE
TAIL ROTOR
... 1,2,3,4,.. n
Blades of Number b
t) * * b * sin(n * F F
0
=
=
O +
K
Soft Spring K will reduce Oscillatory Force transmitted to Fuselage
But will produce excessive static displacement
FRAHM ABSORBER
t) Fsin(O
Y
t)/M sin( * -F Y
2
O O =
t) Fsin(O
M
known and fixed is : Assume O
FRAHM ABSORBER
t) Fsin(O
: Then
t) -(F/k)sin( X and 0 Y
: Then
O = =
M
k
m
Y
X
O = =
n
e k/m that such
m and k Select
known and fixed is : Assume O

mass primary of vibration increase may
frahm The of values other any For
k/m if, only and If,
O
== O
FRAHM IN ACTION
Forcing Function Frequency=30 hz
FRAHM IN ACTION
Forcing Function Frequency=30 hz

FRAHM IN ACTION
Forcing Function Frequency=30 hz
FRAHM IN ACTION
Forcing Function Frequency=30 hz
TIAPAI TOWER
Earthquake Protection via Frahm Absorber
88-92 Floors
660 Ton
Absorber Mass
FRAHM ABSORBERS IN ROTATING
SYSTEM (PENDULUMS)
r1
n/Rev r2) f(r1, / = = O
n
e
M
M
O
Out/Plane
r3
O
/Rev 1 - / n r4) f(r3, / + = = O
n
e
In/Plane
ADVANTAGE: SELF TUNING
for ALL ROTOR SPEEDS
M412 PENDULUMS
Frahm Absorbers
MAIN ROTOR HEAD
Lead-Lag
Damper
Multibladed Soft in Plane Rotor Systems may be subject to
Ground Resonance
Mi-17-1

Pendulum tuned to 4/Rev or 6/Rev to Reduce 5/Rev Fuselage Vibrations
An antiresonance is introduced with a frequency of isolation
that is independent of fuselage mass and pylon mass

Fuselage
Acceleration
Frequency
f
i

t
i
m R R
K
f
) 1 (
=
m
t

a
b
R =
VIBRATION ISOLATOR
m
p

m
f

a
b
K
XMSN MOUNTS
ACTIVE VIBRATION CONTROL

CONCEPT: CREATE AND CONTROL A VIBRATION THAT IS
EQUAL AND OPPOSITE TO AMBIENT VIBRATION
REQUIREMENTS
MEANS OF PRODUCING VIBRATIONS
AERODYNAMICS
HYDRAULIC ACTUATORS
MODEST DIGITAL COMPUTER



MULTIPOINT ADAPTIVE VIBRATION
SUPPRESSION SYSTEM (MAVSS)
Determine baseline ambient vibration at blade
passage frequency for all sensors (Fast Harmonic
Analysis)
Determine the effect of output from each individual
controlled device on all sensors
Determine optimum output for all controlled devices
Apply optimum commands
Monitor all sensors for changes in vibration level
due to changes in flight conditions.
MAVSS IN ACTION
GROUND RESONANCE
CH-47
Non Flight Worthy Components Assembled for Ballistic Testing
of Rotor Blades
WHICH IS BETTER? 2 OR >2 BLADES
Advantages of 2 Bladed Rotor Advantages of >2 Blades

Simplicity Lower Vibs in Level Flight
Stable Human Comfort
Ease of Track & Balance Short Mast (Air Transportability)
High Inertia (Autorotation) Aero Aspect Ratio
No Ground Resonance True Zero G capability
Reduced Parking Area Higher Control Power
Ballistic Survivability Better Connection to TR
Slope Landing capability Better Noise Signature
Fewer Parts Lighter Control System
Sex Appeal