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Real-Time Helicopter Flight Control: Modelling and Control by Linearization and Neural Networks
Purdue University Purdue e-Pubs Department of Electrical and Computer Department of Electrical and Computer Engineering Technical Reports Engineering August 1991 Real-Time Helicopter Flight Control: Modelling and Control by Linearization and Neural Networks Tobias J. Pallett Purdue University School of Electrical Engineering Shaheen Ahmad Purdue University School of Electrical Engineering Follow this and additional works at: https://docs.lib.purdue.edu/ecetr Pallett, Tobias J. and Ahmad, Shaheen, "Real-Time Helicopter Flight Control: Modelling and Control by Linearization and Neural Networks" (1991). Department of Electrical and Computer Engineering Technical Reports. Paper 317. https://docs.lib.purdue.edu/ecetr/317 This document has been made available through Purdue e-Pubs, a service of the Purdue University Libraries. Please contact [email protected] for additional information. Real-Time Helicopter Flight Control: Modelling and Control by Linearization and Neural Networks Tobias J. Pallett Shaheen Ahmad TR-EE 91-35 August 1991 Real-Time Helicopter Flight Control: Modelling and Control by Lineal-ization and Neural Networks Tobias J. Pallett and Shaheen Ahmad Real-Time Robot Control Laboratory, School of Electrical Engineering, Purdue University West Lafayette, IN 47907 USA ABSTRACT In this report we determine the dynamic model of a miniature helicopter in hovering flight. Identification procedures for the nonlinear terms are also described. The model is then used to design several linearized control laws and a neural network controller. The controllers were then flight tested on a miniature helicopter flight control test bed the details of which are also presented in this report. Experimental performance of the linearized and neural network controllers are discussed. -
Helicopter Physics by Harm Frederik Althuisius López
Helicopter Physics By Harm Frederik Althuisius López Lift Happens Lift Formula Torque % & Lift is a mechanical aerodynamic force produced by the Lift is calculated using the following formula: 2 = *4 '56 Torque is a measure of how much a force acting on an motion of an aircraft through the air, it generally opposes & object causes that object to rotate. As the blades of a Where * is the air density, 4 is the velocity, '5 is the lift coefficient and 6 is gravity as a means to fly. Lift is generated mainly by the the surface area of the wing. Even though most of these components are helicopter rotate against the air, the air pushes back on the rd wings due to their shape. An Airfoil is a cross-section of a relatively easy to measure, the lift coefficient is highly dependable on the blades following Newtons 3 Law of Motion: “To every wing, it is a streamlined shape that is capable of generating shape of the airfoil. Therefore it is usually calculated through the angle of action there is an equal and opposite reaction”. This significantly more lift than drag. Drag is the air resistance attack of a specific airfoil as portrayed in charts much like the following: reaction force is translated into the fuselage of the acting as a force opposing the motion of the aircraft. helicopter via torque, and can be measured for individual % & -/ 0 blades as follows: ! = #$ = '()*+ ∫ # 1# , where $ is the & -. Drag Force. As a result the fuselage tends to rotate in the Example of a Lift opposite direction of its main rotor spin. -
Helicopter Flying Handbook (FAA-H-8083-21B) Chapter 8
Chapter 8 Ground Procedures and Flight Preparations Introduction Once a pilot takes off, it is up to him or her to make sound, safe decisions throughout the flight. It is equally important for the pilot to use the same diligence when conducting a preflight inspection, making maintenance decisions, refueling, and conducting ground operations. This chapter discusses the responsibility of the pilot regarding ground safety in and around the helicopter and when preparing to fly. 8-1 Preflight There are two primary methods of deferring maintenance on rotorcraft operating under part 91. They are the deferral Before any flight, ensure the helicopter is airworthy by provision of 14 CFR part 91, section 91.213(d) and an FAA- inspecting it according to the rotorcraft flight manual (RFM), approved MEL. pilot’s operating handbook (POH), or other information supplied either by the operator or the manufacturer. The deferral provision of 14 CFR section 91.213(d) is Remember that it is the responsibility of the pilot in command widely used by most pilot/operators. Its popularity is due (PIC) to ensure the aircraft is in an airworthy condition. to simplicity and minimal paperwork. When inoperative equipment is found during preflight or prior to departure, the In preparation for flight, the use of a checklist is important decision should be to cancel the flight, obtain maintenance so that no item is overlooked. [Figure 8-1] Follow the prior to flight, determine if the flight can be made under the manufacturer’s suggested outline for both the inside and limitations imposed by the defective equipment, or to defer outside inspection. -
Paper Helicopters Preparation
Paper Helicopters Preparation CLASS LEVEL First – sixth class OBJECTIVES Content Strand and Strand Unit Energy & forces, Forces Through investigation the child should be enabled to come to appreciate that gravity is a force, SESE: Science Curriculum page 87. In this activity children explore how some things fall and how varying the size of the rotor blades, the shape of the rotor blades and the weight of a paper helicopter affect the way a helicopter spins. Skill development Through completing the strand units of the science curriculum the child should be enabled to design, plan and carry out simple experiments, having regard to one or two variables and the need to sequence tasks and tests, SESE: Science Curriculum page 79. This activity helps them understand fair testing by changing only one variable (i.e. shape only or length only) at a time. Investigating; experimenting; observing; analysing; measuring/timing; recording and communicating. CURRICULUM LINKS Mathematics Data / representing and interpreting data SESE: History Continuity and change over time/ technological and scientific developments over long periods BACKGROUND A previous activity on how things fall (i.e. the weight of the object is not a factor – Galileo and the Leaning Tower of Pisa) would help understanding of this activity, but not essential. MATERIALS/EQUIPMENT Paper, Ruler, Paper Clips, Scissors Templates of different sizes PREPARATION Test out a few thicknesses of paper/cardboard first to see that some of them spin. BACKGROUND The shape of the helicopter rotor blades make it spin INFORMATION when dropped from a height. Gravity pulls the helicopter down. The air resists the movement and pushes up each rotor separately, causing the helicopter to spin. -
Accumulator Technology. E 3.000.14/03.16 1
Accumulator Technology. E 3.000.14/03.16 1. HYDAC ACCUMULATOR TECHNOLOGY FLUID ENGINEERING EFFICIENCY VIA ENERGY MANAGEMENT. HYDAC Accumulator Technology has over 50 years' experience in research & development, design and production of Hydac accumulators. Bladder, piston, diaphragm and metal bellows accumulators from HYDAC together form an unbeatable range and as components or units, support hydraulic systems in almost all sectors. The main applications of our accumulators are: z Energy storage, z Emergency and safety functions, z Damping of vibrations, fluctuations, pulsations (pulsation damper), shocks (shock absorber) and noise (silencer), z Suction flow stabilisation, z Media separation, z Volume and leakage oil adjustment, z Weight equalization, z Energy recovery. Using accumulators improves the performance of the whole system and in detail this has the following benefits: z Improvement in the functions z Increase in service life z Reduction in operating and maintenance costs z Reduction in pulsations and noise On the one hand, this means greater safety and comfort for operator and machine. On the other hand, HYDAC accumulators enable efficient working in all applications. 2. QUALITY In conjunction with the customer service department at HYDAC's headquarters, Basic criteria, such as: Quality, safety and reliability are paramount service is possible worldwide. z for all HYDAC accumulator components. Design pressure, HYDAC's worldwide distributor network z Design temperature, They comply with the current regulations means that trained staff are close at hand (or standards) for pressure vessels in the to help our customers. z Fluid displacement volume, individual countries of installation. z Discharge / Charging velocity, In taking delivery of a HYDAC hydraulic z Fluid, accumulator therefore, the customer is This ensures that HYDAC customers have the support of an experienced workforce z Acceptance specifications and also assured of a high-quality accumulator product which can be used in every both before and after sale. -
Over Thirty Years After the Wright Brothers
ver thirty years after the Wright Brothers absolutely right in terms of a so-called “pure” helicop- attained powered, heavier-than-air, fixed-wing ter. However, the quest for speed in rotary-wing flight Oflight in the United States, Germany astounded drove designers to consider another option: the com- the world in 1936 with demonstrations of the vertical pound helicopter. flight capabilities of the side-by-side rotor Focke Fw 61, The definition of a “compound helicopter” is open to which eclipsed all previous attempts at controlled verti- debate (see sidebar). Although many contend that aug- cal flight. However, even its overall performance was mented forward propulsion is all that is necessary to modest, particularly with regards to forward speed. Even place a helicopter in the “compound” category, others after Igor Sikorsky perfected the now-classic configura- insist that it need only possess some form of augment- tion of a large single main rotor and a smaller anti- ed lift, or that it must have both. Focusing on what torque tail rotor a few years later, speed was still limited could be called “propulsive compounds,” the following in comparison to that of the helicopter’s fixed-wing pages provide a broad overview of the different helicop- brethren. Although Sikorsky’s basic design withstood ters that have been flown over the years with some sort the test of time and became the dominant helicopter of auxiliary propulsion unit: one or more propellers or configuration worldwide (approximately 95% today), jet engines. This survey also gives a brief look at the all helicopters currently in service suffer from one pri- ways in which different manufacturers have chosen to mary limitation: the inability to achieve forward speeds approach the problem of increased forward speed while much greater than 200 kt (230 mph). -
Helicopter and Tiltrotor Noise Modeling Procedures Document
ACRP Problem Statement: 89 Recommended Allocation: $250,000 Helicopter and Tiltrotor Noise Modeling Procedures Document Click here to see problem statement in IdeaHub: http://ideascale.com/t/UKsrZBVBS (Note: you must be a registered user in myACRP/IdeaHub.) TAGS: Airport Planning, Environment, Noise Impacts, Operations, Policy, Public Relations STAFF COMMENTS No comments. AVERAGE INDUSTRY RATING SUMMARY Committees1 Airport Community2 Achievable 3.00 3.50 Applicable 2.50 3.50 Implementable 2.00 3.50 Understandable 2.50 3.00 OVERALL 2.50 3.38 Notes: 1. Includes TRB aviation committees and committees from ACI-NA and AAAE. 2. Includes airport employees serving on active ACRP project panels. CLICK HERE TO SEE DETAILED INDUSTRY RATINGS CLICK HERE TO SEE DETAILED INDUSTRY COMMENTS ACRP OVERSIGHT COMMITTEE (AOC) DISPOSITION The average AOC rating among its voting members was 2.1 on a scale of 1 to 5. There was on discussion. The problem statement was not selected for ACRP funding and will be returned to the idea collection phase of ACRP’s IdeaHub. ACRP Problem Statement: 89 Helicopter and Tiltrotor Noise Modeling Procedures Document TAGS: Airport Planning, Environment, Noise Impacts, Operations, Policy, Public Relations OBJECTIVE The objective of this research effort is to develop written documentation on best available methods to model community noise generated from helicopter and tiltrotor operations. The document should address integrated and simulation modeling techniques, and methods for collecting and analyzing noise source data, and outline noise source development protocols. The language and format of the document shall be suitable for standards submission. BACKGROUND Existing noise modeling standards [SAE-AIR-1845; ICAO, Doc-29] for prediction of fixed wing community noise have been promulgated internationally and serve as the technical justification and defensible rationale upon which numerous noise models such as the Aviation Environmental Design Tool (AEDT) and the Integrated Noise Model (INM) rely. -
Modelling, Testing and Analysis of a Regenerative Hydraulic Shock Absorber System
energies Article Modelling, Testing and Analysis of a Regenerative Hydraulic Shock Absorber System Ruichen Wang *, Fengshou Gu, Robert Cattley and Andrew D. Ball School of Computing and Engineering, University of Huddersfield, Queensgate, Huddersfield HD1 3DH, UK; [email protected] (F.G.); [email protected] (R.C.); [email protected] (A.D.B.) * Correspondence: [email protected]; Tel.: +44-01484-473640 Academic Editor: Paul Stewart Received: 31 March 2016; Accepted: 12 May 2016; Published: 19 May 2016 Abstract: To improve vehicle fuel economy whilst enhancing road handling and ride comfort, power generating suspension systems have recently attracted increased attention in automotive engineering. This paper presents our study of a regenerative hydraulic shock absorber system which converts the oscillatory motion of a vehicle suspension into unidirectional rotary motion of a generator. Firstly a model which takes into account the influences of the dynamics of hydraulic flow, rotational motion and power regeneration is developed. Thereafter the model parameters of fluid bulk modulus, motor efficiencies, viscous friction torque, and voltage and torque constant coefficients are determined based on modelling and experimental studies of a prototype system. The model is then validated under different input excitations and load resistances, obtaining results which show good agreement between prediction and measurement. In particular, the system using piston-rod dimensions of 50–30 mm achieves recoverable power of 260 W with an efficiency of around 40% under sinusoidal excitation of 1 Hz frequency and 25 mm amplitude when the accumulator capacity is set to 0.32 L with the load resistance 20 W. -
The Rotating Wing Aircraft Meetings of 1938 and 1939 Were the First
The Rotating Wing Aircraft Meetings of 1938 and 1939 This advertisement showing Pitcairn’s 1932 Tandem landing at an were the first national conferences on rotorcraft. They marked estate was typical of their strategy to market to the wealthy. “If yours a transition from a technological focus on the Autogiro to the is such an estate or if you will select a neighboring field, a Pitcairn representative will gladly demonstrate the complete practicality of helicopter. In addition, these important meetings helped to this modern American scene.” With the Great Depression wearing lay the groundwork for the founding of the American Heli- on, however, the Autogiro business was moribund by the late 1930s. copter Society. – Ed. he Rotating Wing Aircraft Meeting of October 28 This was a significant gathering for the future of – 29, 1938 at the Franklin Institute in Philadel- rotary wing flight in America, coming at a time when T phia, PA, sponsored by the Philadelphia Chapter the Autogiro movement was moribund and helicopter of the Institute of the Aeronautical Sciences (IAS, the development was just about to receive a boost with forerunner of the American Institute of Aeronautics and commencement of the just-passed Dorsey-Logan Bill. Astronautics, or AIAA), was an historic gathering of And, perhaps of greater importance, those attending – those involved, committed to and researching Autogiro, including many of the leading developers of rotary wing convertiplane and helicopter flight. It was, as described flight – were actively speculating as to the future that in the preface to the conference proceedings, “the first rotary wing flight might take. -
Historical Perspective September 2011 11
Helicopter heroes It was 50 years ago that a prototype helicopter first flew and a legend was born—the CH-47 By Mike Lombardi urrently serving on the front lines The advantage of this unique design Just as earlier Chinooks proved of the global fight against terror- allows for low load-per-rotor area, elimi- themselves in wartime, the D model Cism, the CH-47 Chinook is the nates the need for a tail rotor, increases has played a key role for U.S. and epitome of the innovative tandem-rotor lift and stability, and provides a large allied troops in the deserts of Iraq helicopter designs produced through range for center of gravity. and the mountains of Afghanistan. the genius of helicopter pioneer Frank The HRP was followed by the U.S. The highly modified MH-47 series is Piasecki, founder of the company that Navy HUP/UH-25, the first helicopter to operated by the U.S. Army Special would later develop into the Boeing incorporate overlapping tandem rotors, Operations Forces. operations near Philadelphia. and the U.S. Air Force CH-21, a long- When the Chinook first flew in 1961 The CH-47, having been continuously range helicopter transport designed for Boeing Magazine wrote: “There is a modernized, has provided unmatched use in the Arctic. saying in the aviation industry that you capability for U.S. and allied troops since Piasecki stepped down in 1955 as can tell a winner by its appearance. The hard work and dedication of the Boeing its introduction 50 years ago this month. -
Final Report MO-2017-203: Burst Nitrogen Cylinder Causing Fatality, Passenger Cruise Ship Emerald Princess, 9 February 2017
Final report MO-2017-203: Burst nitrogen cylinder causing fatality, passenger cruise ship Emerald Princess, 9 February 2017 The Transport Accident Investigation Commission is an independent Crown entity established to determine the circumstances and causes of accidents and incidents with a view to avoiding similar occurrences in the future. Accordingly it is inappropriate that reports should be used to assign fault or blame or determine liability, since neither the investigation nor the reporting process has been undertaken for that purpose. The Commission may make recommendations to improve transport safety. The cost of implementing any recommendation must always be balanced against its benefits. Such analysis is a matter for the regulator and the industry. These reports may be reprinted in whole or in part without charge, providing acknowledgement is made to the Transport Accident Investigation Commission. Final Report Marine inquiry MO-2017-203 Burst nitrogen cylinder causing fatality, passenger cruise ship Emerald Princess, 9 February 2017 Approved for publication: November 2018 Transport Accident Investigation Commission About the Transport Accident Investigation Commission The Transport Accident Investigation Commission (Commission) is a standing commission of inquiry and an independent Crown entity responsible for inquiring into maritime, aviation and rail accidents and incidents for New Zealand, and co-ordinating and co-operating with other accident investigation organisations overseas. The principal purpose of its inquiries is to determine the circumstances and causes of occurrences with a view to avoiding similar occurrences in the future. Its purpose is not to ascribe blame to any person or agency or to pursue (or to assist an agency to pursue) criminal, civil or regulatory action against a person or agency. -
CH-47 Chinook/Improved Cargo Helicopter (CH-47F)
CH-47 Chinook/Improved Cargo Helicopter (CH-47F) 204 United States Army Concept and Technology Development | System Development and Demonstration | Production and Deployment | Operations and Support C H-47 Chinook/Improved Cargo Helicopter (CH-47F) Cargo Chinook/Improved H-47 — Mission — Program Status Transport ground forces, supplies, ammunition and other battle-critical cargo in support • 3QFY98 Awarded the engineering and manufacturing development of worldwide combat and contingency operations. (EMD) contract, slated for completion FY03. T55-GA-714A Engine: — Description and Specifications • 1QFY98 Commenced low-rate initial production (LRIP). As the Army’s only Objective Force heavy-lift cargo helicopter capable of intra-theater cargo movement of payloads greater than 9000 lbs, the CH-47 Chinook/Improved Cargo • 1QFY00 First unit equipped. Helicopter (CH-47F) is an essential component of the Army Vision. The CH-47F program • 2QFY00 Currently fielding for the CH-47D/MH-47D/MH-47E. will remanufacture 300 of the current fleet of 431 CH-47D Chinook helicopters, install a Extended Range Fuel System (ERFS): new digital cockpit, and make modifications to the airframe to reduce vibration. • 4QFY98 Awarded the improved ERFS II production contract. Initial The upgraded cockpit will provide future growth potential and will include a digital data deliveries were deployed in support of operations in Kosovo. bus that permits installation of enhanced communications and navigation equipment for improved situational awareness, mission performance, and survivability. Airframe struc- • 2QFY00 ERFS received a full materiel release. tural modifications will reduce harmful vibrations, reducing operations and support • 3QFY01 First flight (EMD). (O&S) costs and improving crew endurance. Other airframe modifications reduce by approximately 60 percent the time required for aircraft tear down and build-up after — Projected Activities deployment on a C-5 or C-17.