LAG DAMPER RESEARCH

Brano Titurus, Nick Lieven & Peter Bunniss

Lag damper
research
Passive damper
design
Active damper
design
Model
refinement
Model refinement for
improved correlation with
experimental validation
datasets.
Data for
validation
Experiments designed for
model validation,
parameter ID etc.
Test rig for
validation
Test rig design for model
validation, refinement and
substructuring.
Control
performance
Control performance
studies for a range of cost
functions, response
quantities and flight
conditions.
R150
implement.
Algorithmic and software
implementation of
HHC/IBC concept and
new damper models into
rotor performance
prediction code R150.
Evaluation &
concept
(Semi)active damper
concept and initial
evaluation (damping
capacity etc.) Model
selection and further use
(e.g. in R150).
Research evolution
Nominal
damper model
Evaluation &
validation
Smart
damper
Nominal
damper model
Parametric
studies
Passive
damper
Previous research (PhD)
Passive damper design
{Brano.Titurus,Nick.Lieven,Peter.Bunniss}@bristol.ac.uk
Displacement-Force profile for sine
excitation: 20.46 mm; 3.5 Hz.
Velocity-Force profile for sine
excitation: 20.46 mm; 3.5 Hz.
Characteristic lines for 3.5 Hz.
Model validation Lag damper on EH101
Active damper design
R150 implementation
Analysis blocks
Comparison of the damper forces and piston velocities for nominal
and decoupled cases.
Decoupled trimming
Damper response change due to 5/rev COS harmonic change of the
orifice diameter on rotor trim.
Standard trim (constant parameter) Harmonic trim
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Periodic parameter variations
Nominal damper model
( ) ( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( )
, , , , ,
,
0 0
1
, ,
i
V i V i i V i i C i V i
P o j V j j
d x t
A p b x t k x t X m
dt
d p
A y sign p Q p p x Q p x
dt V
,
|
( = A

A +
( = A A + A A

D
( ) ,
0
P P P C D
m y sign y A p f F
~
+ = A
Basis of the model relief valve dynamics, fluid
compressibility equation:
Force generated by the damper:
Refined damper model
( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( ) ( ) ( )
, , , , , ,
*
,
( )
1
, ,
, ,
i
V i V i i V i i V i i C i V i
P O j V j j
E P C
d x t
A p R x b x t k x t X m
dt
d p
A y sign p Q p p x Q p x
dt p k k V
,
|
( = A

A +
( = A A + A A
A
D
D P
F A p = A
Refined damper model (relief valve losses, by-pass tube
losses, finite flexibility, effective compressibility):
Force generated by the damper (massless piston):
Test rig for validation
Actuator+LVDT Load cell Lag damper
0 0 , V |
V p A
p A
L p A E p A
( ) y t
0 P m ~
Relief
valves
Orifice
Attachment
flexibility
( )
( )
V p
p |
A
A
V p A
p A
L p A E p A
( ) P y t
, E V p A
( ) V p A A
P k C k
( ) y t
0 P m ~
( ) y t
( )
( )
V p
p |
A
A
( ) O O p d A , E O p A
( ) V p A A
P k C k
O d
0 P m ~
Single variable
orifice
Modified passive design
e.g. single variable orifice
instead of a pair of mechanical
relief valves
( )
( )
( ) ( ) ( ) ( )
1
,
, ,
P O O O O
E P C
d p
A y sign p Q p d d d
dt p k k V
,

|
A +
( = A A =

A
D P
F A p = A
Active damper model concept
( ) ( ) ( ) ( )
( )
cos sin
O O j j
j
d d A j t B j t = + O + O
Variable orifice (diameter) for trimmed flight:
Force generated by the damper (massless piston):
Basis of the model pressure difference evolution:
Modified R150
decoupled rotor-damper integration (FOH/ZOH Z-transform vs Runge-Kutta),
continuation between trimmed states (on-line trimming) for fast evaluations,
periodic variations of damper parameters to implement HHC/IBC schemes.
Evaluation, analysis & modification
Damper with variable orifice, 1/rev harmonic perturbation:
Damper with variable orifice, 4/rev harmonic perturbation:
( ) ( ) 0.1 cos 1 0.2 sin 1
O O O O
d d d t d t = + O + O
( ) 0.7 sin 4
O O O
d d d t = + O
Dcpl. logic
isNext
isID
1
0
1 0
Model ID
Controller
(Damper) HHC/IBC
controller
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R150
Aero-elasticity Hydro-mechanics Control logic
Z-transform Runge-Kutta HHC/IBC
ROTOR DAMPER CONTROL & ID
( ) , ; t = x f x
Damper v.X.X
Higher-Harmonic/Individual Blade
Control (HHC/IBC) schemes
assuming sequences of trimmed
states.
( ) ( ) , y t y t
( ) D
F t
A library of damper models
for different design options
and configurations.
Interactive parameter change (orifice diameter) after nominal trim.
Standard (thrust & flapping) trim 12x 12x 12x
do=1.0 (normalised orifice diameter) do=0.2 do=1.6 do=1.0
.
i j
comp z p c c
On-line trimming
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