Modeling and analysis of landing collision dynamics for a shipborne helicopter

Abstract

A Lagrange dynamic model is established based on small-angle approximation to improve the simulation model for shipborne helicopter landing collision. To describe fuselage motion effectively, the proposed model considers ship motion, the interaction of the tires with the deck, and tire slippage. A mechanism of sliding motion is built, and a real-time reliability analysis of the algorithm is implemented to validate the proposed model. Numerical simulations are also conducted under different operation conditions. Results show that the proposed dynamic model can simulate the collision motion of helicopter landing in real time. Several suggestions for helicopter pilot landing are likewise provided.

Key words： shipborne helicopter; landing model; Lagrange equations; dynamics; validation

Acknowledgements

This work was supported by the Hebei Province “Giant Plan”, China (Grant No. 4570031), the Hebei Province Natural Science Fund, China (Grant No. E2019203431), and the Foundation for Innovative Research Groups of the Natural Science Foundation of Hebei Province, China (Grant No. E2020203174).

References

1 Crozon C, Steijl R, Barakos G N. Coupled flight dynamics and CFD–Demonstration for helicopters in shipborne environment. Aeronautical Journal, 2018, 122(1247): 42–82

2 Su D, Xu G, Huang S, Numerical investigation of rotor loads of a shipborne coaxial-rotor helicopter during a vertical landing based on moving overset mesh method. Engineering Applications of Computational Fluid Mechanics, 2019, 13(1): 309–326

3 Tan J F, Zhou T Y, Sun Y M, Numerical investigation of the aerodynamic interaction between a tiltrotor and a tandem rotor during shipboard operations. Aerospace Science and Technology, 2019, 87(4): 62–72

4 Khan A, Bil C, Marion K E. Real time prediction of ship motion for the aid of helicopter and aircraft deployment and recovery. In: Proceedings of the 25th International Congress Council of the Aeronautical Sciences. Hamburg: RMIT University, 2006, 1–6

5 Yang X, Pota H, Garratt M, Ship motion prediction for maritime flight operations. IFAC Proceedings Volumes, 2008, 41(2): 12407–12412

6 Zhou B, Shi A. LSSVM and hybrid particle swarm optimization for ship motion prediction. In: Proceedings of 2010 International Conference on Intelligent Control and Information. Dalian: IEEE, 2010, 183–186

7 Lee D, Horn J F. Simulation of pilot workload for a helicopter operating in a turbulent ship airwake. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2005, 219(5): 445–458

8 Polsky S A, Wilkinson C, Nichols J, Development and application of the SAFEDI tool for virtual dynamic interface ship airwake analysis. In: Proceedings of the 54th AIAA Aerospace Sciences Meeting. San Diego: AIAA, 2016

9 Sezer-Uzol N, Sharma A, Long L N. Computational fluid dynamics simulations of ship airwake. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2005, 219(5): 369–392

10 Oruc I, Horn J F, Polsky S, Coupled flight dynamics and CFD simulations of helicopter/ship dynamic interface. In: Proceedings of the American Helicopter Society 71st Annual Forum. Virginia Beach: American Helicopter Society, 2015, 1835–1847

11 Oruc I, Horn J F, Shipman J. Coupled flight dynamics and computational fluid dynamics simulations of rotorcraft/terrain interactions. Journal of Aircraft, 2017, 54(6): 2228–2241

12 Oruc I, Shenoy R, Shipman J, Towards real-time fully coupled flight dynamics and CFD simulation of the helicopter/ship dynamic interface. In: Proceedings of American Helicopter Society 72nd Annual Forum. West Palm Beach: American Helicopter Society, 2016, 17–19

13 Han D, Wang H, Gao Z. Aeroelastic analysis of a shipboard helicopter rotor with ship motions during engagement and disengagement operations. Aerospace Science and Technology, 2012, 16(1): 1–9

14 Wall A S, Langlois R G, Afagh F F. Modelling helicopter blade sailing: Dynamic formulation in the planar case. Journal of Applied Mechanics, 2007, 74(6): 1104–1113

15 Huang Y T, Zhu M, Zheng Z W, Fixed-time autonomous shipboard landing control of a helicopter with external disturbances. Aerospace Science and Technology, 2019, 84(1): 18–30

16 Duan P P, Nie H, Wei X H. Dynamic response analysis of carrier-based aircraft during landing. Transactions of Nanjing University of Aeronautics and Astronautics, 2013, (4): 306–316

17 Blackwell J, Feik R A. A Mathematical Model of the On-Deck Helicopter/Ship Dynamic Interface. Aeronautical Research Labs Report B870031, 1988

18 Li Y J, Zhao D X, Zhang Z J, An IDRA approach for modelling helicopter based on Lagrange dynamics. Applied Mathematics and Computation, 2015, 265(3): 733–747

19 Zhao D X, Zhang J Y, Carbone G, Dynamic parameters identification of a haptic interface for a helicopter flight simulator. Mechanical Sciences, 2020, 11(1): 193–204

20 Mahmuddin F. Rotor blade performance analysis with blade element momentum theory. Energy Procedia, 2017, 105: 1123–1129

21 Tan D L, Zheng C, On A. General formula of fourth order Runge–Kutta method. Journal of Mathematical Science and Mathematics Education, 2012, 7(2): 1–10

22 Dreier M E. Introduction to the flight simulation of helicopters and tiltrotors. In: Dreier M E, ed. Introduction to Helicopter and Tiltrotor Flight Simulation. 2nd ed. Reston: American Institute of Aeronautics and Astronautics, 2018, 323–452

23 Das A, Lewis F, Subbarao K. Backstepping approach for controlling a quadrotor using Lagrange form dynamics. Journal of Intelligent & Robotic Systems, 2009, 56(1–2): 127–151

24 Hess R A. Simplified technique for modelling piloted rotorcraft operations near ships. Journal of Guidance, Control, and Dynamics, 2006, 29(6): 1339–1349

25 Linn D R, Langlois R G. Development and experimental validation of a shipboard helicopter on deck maneuvering simulation. Journal of Aircraft, 2006, 43(4): 895–906

26 Zhu Z H, Larosa M, Ma J. Fatigue life estimation of helicopter landing probe based on dynamic simulation. Journal of Aircraft, 2009, 46(5): 1533–1543

27 Xiao B, Cao L, Xu S, Robust tracking control of robot manipulators with actuator faults and joint velocity measurement uncertainty. IEEE/ASME Transactions on Mechatronics, 2020, 25(3): 1354–1365

28 Cao L, Xiao B, Golestani M. Robust fixed-time attitude stabilization control of flexible spacecraft with actuator uncertainty. Nonlinear Dynamics, 2020, 100(3): 2505–2519