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NASA/TP—2015–216656 Handling Qualities of Large Rotorcraft in Hover and Low Speed Carlos A. Malpica and Colin R. Theodore Ames Research Center, Moffett Field, California Ben Lawrence San Jose State University Research Foundation Ames Research Center, Moffett Field, California Chris L. Blanken U.S. Army Aviation Development Directorate – AFDD Aviation & Missile Research, Development & Engineering Center (AMRDEC) Research, Development and Engineering Command (RDECOM) Ames Research Center, Moffett Field, California Click here: Press F1 key (Windows) or Help key (Mac) for help March 2015 This page is required and contains approved text that cannot be changed. NASA STI Program ... in Profile Since its founding, NASA has been dedicated • CONFERENCE PUBLICATION. to the advancement of aeronautics and space Collected papers from scientific and science. The NASA scientific and technical technical conferences, symposia, seminars, information (STI) program plays a key part in or other meetings sponsored or helping NASA maintain this important role. co-sponsored by NASA. The NASA STI program operates under the • SPECIAL PUBLICATION. Scientific, auspices of the Agency Chief Information Officer. technical, or historical information from It collects, organizes, provides for archiving, and NASA programs, projects, and missions, disseminates NASA’s STI. The NASA STI often concerned with subjects having program provides access to the NASA substantial public interest. Aeronautics and Space Database and its public interface, the NASA Technical Reports Server, • TECHNICAL TRANSLATION. thus providing one of the largest collections of English-language translations of foreign aeronautical and space science STI in the world. scientific and technical material pertinent to Results are published in both non-NASA channels NASA’s mission. and by NASA in the NASA STI Report Series, which includes the following report types: Specialized services also include organizing and publishing research results, distributing • TECHNICAL PUBLICATION. Reports of specialized research announcements and completed research or a major significant feeds, providing information desk and personal phase of research that present the results of search support, and enabling data exchange NASA Programs and include extensive data services. or theoretical analysis. Includes compila- tions of significant scientific and technical For more information about the NASA STI data and information deemed to be of program, see the following: continuing reference value. NASA counter- part of peer-reviewed formal professional • Access the NASA STI program home page papers but has less stringent limitations on at http://www.sti.nasa.gov manuscript length and extent of graphic presentations. • E-mail your question to [email protected] • TECHNICAL MEMORANDUM. • Fax your question to the NASA STI Scientific and technical findings that are Information Desk at 443-757-5803 preliminary or of specialized interest, e.g., quick release reports, working • Phone the NASA STI Information Desk at papers, and bibliographies that contain 443-757-5802 minimal annotation. Does not contain extensive analysis. • Write to: STI Information Desk • CONTRACTOR REPORT. Scientific and NASA Center for AeroSpace Information technical findings by NASA-sponsored 7115 Standard Drive contractors and grantees. Hanover, MD 21076-1320 NASA/TP—2015–216656 Handling Qualities of Large Rotorcraft in Hover and Low Speed Carlos A. Malpica and Colin R. Theodore Ames Research Center, Moffett Field, California Ben Lawrence San Jose State University Research Foundation Ames Research Center, Moffett Field, California Chris L. Blanken U.S. Army Aviation Development Directorate – AFDD Aviation & Missile Research, Development & Engineering Center (AMRDEC) Research, Development and Engineering Command (RDECOM) Ames Research Center, Moffett Field, California Insert conference information, if applicable; otherwise delete Click here: Press F1 key (Windows) or Help key (Mac) for help National Aeronautics and Space Administration Ames Research Center Moffett Field, CA 94035-1000 March 2015 Enter acknowledgments here, if applicable. The use of trademarks or names of manufacturers in this report is for accurate reporting and does not constitute an official endorsement, either expressed or implied, of such products or manufacturers by the National Aeronautics and Space Administration. Click here: Press F1 key (Windows) or Help key (Mac) for help Available from: NASA Center for AeroSpace Information 7115 Standard Drive Hanover, MD 21076-1320 443-757-5802 Click here: Press F1 key (Windows) or Help key (Mac) for help This report is also available in electronic form at http://ntrs.nasa.gov Table of Contents Nomenclature ................................................................................................................................ v Introduction ................................................................................................................................... 1 Need, Mission, and Requirements ............................................................................................ 1 Next Generation Air Transportation System (NextGen) ........................................................ 1 Performance Targets ............................................................................................................. 2 Technologies Required .......................................................................................................... 2 Flight Dynamics and Control Issues ...................................................................................... 3 Overview of Experiments .......................................................................................................... 4 Simulation Model Development and Experimental Setup ............................................................. 5 Aircraft Models .......................................................................................................................... 5 Linear Model Extraction and Validation ................................................................................. 5 Stitched Model Theory ........................................................................................................... 7 Implementation of the qLPV Technique ................................................................................. 8 LCTR2 qLPV Model Validation, Verification, and Analysis .................................................... 9 Nacelle Modeling ................................................................................................................... 9 Control Law Design ................................................................................................................. 18 Model-Following Architecture .............................................................................................. 18 Attitude Command ............................................................................................................... 18 Translational Rate Command .............................................................................................. 19 Hybrid Attitude/Translational Rate Command Response Type ........................................... 20 Crossfeeds for TRC Control Mixing ..................................................................................... 21 Cyclic Augmentation ............................................................................................................ 21 Actuators .............................................................................................................................. 22 Turbulence Modeling ............................................................................................................... 22 Tiltrotor CETI Turbulence Model .......................................................................................... 24 Comparison to Standard CETI Model and Discussion ........................................................ 24 Simulation Facility ................................................................................................................... 28 Evaluation Tasks and Procedures ........................................................................................... 28 Evaluation Tasks ................................................................................................................. 34 MTE Development ............................................................................................................... 34 VMS Cabin Orientation ........................................................................................................ 35 Evaluation Pilots .................................................................................................................. 35 Simulation Results ...................................................................................................................... 37 Overview ................................................................................................................................. 37 Flight Control Requirements Connected With Large Rotorcraft .......................................... 37 Response Type Augmentation ............................................................................................ 38 Stability Margins for Large Rotorcraft ...................................................................................... 39 Design Trade-offs of DRB vs. Stability Margin ...................................................................
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