Beruflich Dokumente
Kultur Dokumente
Flores
Numerical
study of the unsteady aerodynamics
of rotating seeds
I. IINTRODUCTION
(1)
2 x, t 0
Parameter values
S
L
AR
m
VD
Wing area
Wing length
Aspect ratio
Mass
Angular velocity
Descent rate
Cone angle
Geometric angle of attack
3.04 cm2
3.62 cm
4.33
0.058 g
977 rpm
0.82 m/seg
23.7
1.17
(1)
t
x1
e
4 x1 2
2
1 2
(2)
where x1 and x2 are the position vectors of the point where the
velocity are computed relative to the ends of the straight
vortex segment, e1 and e 2 unit vectors associated to x1 and x2
vectors, and x1 x 2 .
For a field point on or very near the vortex segment itself
or its extension, is or nearly is parallel to r1. This causes
the behavior of V x,t to be troublesome. In order to
circumvent this bad behavior, Eq. (2) was slightly modified
by introducing the quantity , where is the cutoff
radius. Standard procedures use a range for between 10
and 25% of the smallest of the panel dimensions [17].
A. Discretization of the vortex sheets
In the unsteady vortex-lattice method, we replace the
bound-vortex sheets by a lattice of short, straight vortex
segments of circulation i ( t). These segments divide the
surface of the seeds nut and seeds blade into a number of
elements of area (panels) (see Fig. 3). The model is completed
by joining free vortex lines, representing the free-vortex
sheets, to the bound-vortex lattice along the edges of
separation; such as the trailing edge and wing tip of the
lifting surface.
1
x, t V x, t V x, t
t
2
H t
(4)
Fig. 3. Discretization of the bound-vortex sheets representing the seeds nut and
blade.
B. Boundary conditions
The governing equation of the problem is complemented
with the following boundary conditions:
1) Regularity at infinity: this condition requires that all
disturbances due to a moving body in a fluid, initially at rest,
decay away from body and its wakes.
2) The non-penetration condition: it is applied over the
entire boundary of the solid immersed in the fluid. This
condition also called of impermeability requires that the
normal component of the velocity of all fluid particles relative
to the body surface must be zero on the body surface:
V VB VW VP n
(3)
A. Validations
In order to verify, validate and determine the limitations of
the adopted aerodynamic model, we present the reproduction
of two well-known problems. The first one consists of a flat
plate immersed in a low subsonic flow, and the second one is
the case of a two-blade rotor in hover that reaches the steady
state.
1) Flat plate (AR = 1)
In this Subsection we consider the case of a rectangular
wing characterized by an aspect ratio AR = 1. The wing
begins impulsively to move at constant velocity. Figures 4a
and 4b show the normal force coefficient CN and the moment
coefficient CM for different values of the angle of attack (at
A
0.87741 mm,
NP
1 1
TC
7.6774 10 4 seg,
N ps
LC
(5)
V. CONCLUSIONS
In this paper we developed the dynamic equations of
motion for a flapping-wing micro-air-vehicle. The dynamic
model was formulated by using Lagranges equations for
constrained systems. Moreover, this model takes into account
the contribution of the inertial effects of the wings on the
central body (fuselage) of the MAV, effect that has been
neglected in most of the works found in the literature.
The numerical integration of the dynamical equations was
performed successfully by means of a modified scheme proposed
in this work. This modified scheme consists of the
Hammings fourth-order predictor-corrector method coupled
with a post-stabilization procedure based on the coordinate
projection.
The model was validated by comparing its results with the
simple formula for free fall found in any basic physics
textbook. In addition, we presented results for the flight
dynamics of a MAV in hovering and, although the
aerodynamic and dynamic models still are decoupled, we
obtained encouraging results.
Currently, we are developing an algorithm to combine the
aerodynamic and dynamic model as a single dynamical
system for solving all the governing equations through the
numerical procedure proposed in this work.
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