1

Two degrees of freedom airfoil with a control surface

The equations of motion can be transformed into the following set of equations
Ch
L

+
K

h
b3
b3


C
M
+ r2 (c ah )x +
x + r2
+ K =
4
b
b4


M
C
+ K =
x + r2 (c ah )x
+ r2 +
4
b
b4

+ x
+ x +

where = hb , =
given by

m
,
b2

Kh = mh2 , K = mr2 2 , K = mr2 2 . The lift and moment equations are



T1
T4

+ U U + 2U 2 b(XT M )
L = b ah

1
1
ah 8 + a2h
+ (T7 + (c ah ) T1 )




1
4
2 2
1
1
2

U 2 ah (T4 + T10 ) U
M = b
+ 2U b 2 + ah (XT M )

T11
1
T1 T8 (c ah ) T4 +
U
3

The system of equations can be re-written

co 00 + c1 00 + c2 00 + c3 0 + c4 0 + c5 0 + c6
+ c7 + c8 + c9 w1 + c10 w2 + c11 w3 + c12 w4 + c13 w5 + c14 w6
do 00 + d1 00 + d2 00 + d3 0 + d4 0 + d5 0 + d6
+ d7 + d8 + d9 w1 + d10 w2 + d11 w3 + d12 w4 + d13 w5 + d14 w6
eo 00 + e1 00 + e2 00 + e3 0 + e4 0 + e5 0 + e6
+ e7 + e8 + e9 w1 + e10 w2 + e11 w3 + e12 w4 + e13 w5 + e14 w6

= f (t)
= g(t)
= h(t)

These equations can be numerically integrated but the integro-differential equations make it particularly difficult to complete. Lee et. al. introduced the following change of variable to deal with the tricky
integral.
Z

1 ( )

w1 =

()e
Z0

w3 =

Z
d

w5 =

()e2 ( ) d

Z0

()e1 ( ) d

w4 =

w2 =

()e2 ( ) d

()e

1 ( )

Z
d

w6 =

()e2 ( ) d

The next step is to find all the coefficients in the system of equations by equating the derived equations of
motion for the model and the analytical equations of motion. In order to equate the wi (1, ..., 6) coefficients
it is necessary to take a time derivative followed by a second time derivative.
Z

d
d
1 ( )
(w1 ) =
()e
d = w1 = 1 w1
d
d
0
1

d2
d2
(w
)
=
1
d 2
d 2

Z

1 ( )

()e


d

= w1 = 21 w1

Using the above results, the XTM terms can be calculated and the coefficients found. The solved
coefficients for the lift equations are as follows:

c1 = x ah ,
T1
Ch
= x
c3 =
+ 2U ,
3

b




T11
1

=U +
ah (1 1 2 )
c5 = 2U
(1 1 2 )
2
2




2
2
1

= 2U Kh + (1 1 + 2 2 )
c7 = 2U (1 1 2 ) + (1 1 + 2 2 ) ( ah )
U
U
2


T
2
T
10
11
= 2U ((1 1 2 ) (
+ (1 1 + 2 2 )
)) c9 = 2U 1 21

U
2




1
2

2
c11 = 2U ( ah )(1 1 ) 1 1
= 2U 2 2
2




1
T11
T10
2
2

)(1 1 ) (1 1 )(
)(U )
= 2U ( ah )(2 2 ) 2 2
c13 = 2U (
2
2



T11
T10

= 2U (
)(2 2 ) (2 2 )(
)(U )
2

co = 1 + ,
c2
c4
c6
c8
c10
c12
c14

The solved coefficients for the M equations are as follows:

1
(T7 + (c ah )T1 )

1
1
1
C
= U ( ah ) 2U ( + ah )( ah )(1 1 2 ) +
2
2
2
b4


T11
T11
1
(T1 T8 (c ah )T4 +
) 2U (
)(1 1 2 )
= U

2
2
1
= 2U ( + ah )(1 1 + 2 2 )
2
1
1
1
= K 2U (1 1 2 )( ) 2U ( + ah )( ah )(1 1 + 2 2 )
2
2
2

d2 = (r2 (c ah )x )
d4
d5
d6
d7

1
+ a2h
8
1
d3 = 2U (( + ah )(1 1 2 ))
2
d1 = r2 +

do = x ah

Rayleigh-Ritz formulation of the cantilever wing equations

The Rayleigh-Ritz series is designed to give an approximation for the deformation of a structure as a sum
of fundamental mode shapes. The cantilever wing has a series that can be written in the following way
h(y, t) =

n
X

i (y)qi (t)

i=1

(y, t) =

l
X

n+i (y)qn+i (t)

i=1

where i (y) are the bending mode shapes, n+i (y) are the torsion mode shapes and qi are functions of
time only, usually termed the generalized co-ordinates.
The bending mode shapes are given by the expression
i (y) =

sinhi s sini s
(sini y sinhi y) + (coshi y cosi y)
cosi s + coshi s

a similar expression can be used as well

i (y) =

coshi s + cosi s
(sini y sinhi y) + (coshi y cosi y)
sini s + sinhi s

where 1 = 1.875/s, 2 = 4.694/s, 3 = 7.855/s and i = (2i 1)/2s for i > 3. The torsion mode
shapes are given by
(2i 1)y
n+i (y) = sin
2s