ISSN 1068-7998, Russian Aeronautics (Iz.VUZ), 2012, Vol. 55, No. 4, pp. 357–365. © Allerton Press, Inc., 2012.

Original Russian Text © E.I .Nikolaev, E.N. Antoshkina, 2012, published in Izvestiya VUZ. Aviatsionnaya Tekhnika, 2012, No. 4, pp. 23–29.

STRUCTURAL MECHANICS AND STRENGTH

OF FLIGHT VEHICLES

Study of Feasibility and Exactness for the Mathematical

“Semirigid” Nonlinear Model of the Helicopter Main Rotor
a b
E. I. Nikolaev and E. N. Antoshkina
a
OAO Kazan Helicopters, Kazan, Russia
b
Tupolev Kazan National Research Technical University, Kazan, Russia
Received May 17, 2012

Abstract—The basic equations of the main rotor blade motion with the preservation of nonlinear
terms are presented. The results of analyzing the term values for nonlinear equations obtained for
different flight regimes and several aeroelasticity problems are given.
DOI: 10.3103/S106879981204006X
Keywords: mathematical “semirigid” nonlinear model, stiffness matrix, Fourier series.

The equations of motion for the helicopter main rotor blade obtained earlier [1–13] to analyze
the aeroelastic stability of blades with an elastic hub make it possible to describe the blade’s behavior
under complex aerodynamic loading. This behavior can be also analyzed by the different methods from
the impulse theory and to the computational hydrodynamics methods. The main relations with some
amendments obtained in this case are valid also for constructing the nonlinear theory of “semirigid” blade
oscillations. When nonlinear terms are retained, the equations of motion become cumbersome; therefore,
of current interest is the analysis of the term values for the nonlinear equation obtained for different flight
regimes and the aeroelasticity problems being solved (strength analysis for blades, hub and shaft, or blade
flutter and divergence analysis).

DERIVATION OF NONLINEAR EQUATIONS OF BLADE OSCILLATIONS IN THE FIELD OF

CENTRIFUGAL INERTIAL AND AERODYNAMIC FORCES AND MOMENTS
Following A.Yu. Liss [2, 3], we can derive the equations of motion for the helicopter main rotor blade
that are suitable for analyzing the aeroelastic stability of blades with an elastic hub.
In the general case, the rotor blade angle at the root is presented as follows
ϕ 0 = γ + θ0 + Δθ ( r ) − θ1 sin ( ψ ) − θ2 cos ( ψ ) − kβ, (1)
where γ is the angle of blade rotation due to control circuit response; θ 0 is the blade collective pitch;
Δθ ( r ) is the blade twist; θ1 , θ2 are the cyclic blade pitches; k is the coefficient of flapping compensator;
β is the blade flapping angle; ψ is the angle of blade azimuthal position. Let us collect the terms of
expression (1) and identify the groups ϕ = θ0 + Δθ ( r ) and θ = γ − θ1 sin ψ − θ2 cos ψ − kβ. Under the
assumption that the angle of blade twist θ is negligible, it follows:
sin ( ϕ + θ ) ≈ sin ϕ + θ cos ϕ; cos ( ϕ + θ ) ≈ cos ϕ − θ sin ϕ. (2)
Since the flat cross-section hypothesis is applied in this work to calculate the aerodynamic loads, it is
necessary to know the induced velocities when the angle of attack in the blade design section is
determined. It is convenient to expand the induced velocities with components v x , vy , vz into the
Fourier series:

357
358 NIKOLAEV, ANTOSHKINA

( )
n n
vx = v0 x + ∑ ( vicx cos ( iψ ) + visx sin ( iψ ) ); v y = v0 y + ∑ vicy cos ( iψ ) + visy sin ( iψ ) ;
i =1 i =1
n
(3)
vz = v0 z + ∑ ( vicz cos ( iψ ) + visz sin ( iψ ) ),
i =1

where n ≤ 8 and its value depends on the accuracy requirement in constructing the problem solution. For
the calculation of vibrations it is preferable to choose the value n larger than for calculation of flutter. The
values of induced velocity harmonics on the blade element are calculated using the disk theory of the main
rotor [14–18] depending on the flight regime, the balancing position of a helicopter and control parameters.
The equation of oscillations presented in [3] for an elastic blade can be written in the matrix form also
for the “semirigid” scheme:
 = F ; A + B
A1 + B  = F ; A + B  = F . (4)
1 1 2 2 2 3 3 3

( )
Here Ai and Bi i = 1,3 are the linear integral-differential operators for the functions β, ζ, γ :
R

(
A1 ( r0 ) = Cζζ + ω 2 ∫ ⎣⎡ mr*rζ − mxt r*θ sin ϕ − ( I m 2 − I m1 ) β sin ϕ cos ϕ − I m 2 cos2 ϕ + I m1 sin 2 ϕ ζ ⎦⎤ dr; )
r0
R

(
A2 ( r0 ) = Cββ + ω 2 ∫ ⎡⎣ mr 2β + mxt rθ cos ϕ − ( I m 2 − I m1 ) ζ sin ϕ cos ϕ − I m 2 sin 2 ϕ + I m1 cos2 ϕ β ⎦⎤ dr; )
r0
R

A3 ( r0 ) = Cζ γ * + ω 2 ∫ ⎡⎣ mxt ( rζ sin ϕ + e0 θ cos ϕ ) + ( I m 2 − I m1 ) θ cos2ϕ − mxt r (ζ sin ϕ − β cos ϕ ) ⎤⎦ dr; (5)

r0
R

( ) (
B1 ( r0 ) = ∫ ⎡( mrζ − mxt θ sin ϕ )( r − r0 ) + I m2 − I m1 β sin ϕ cos ϕ + I m2 cos2 ϕ + I m1 sin 2 ϕ ζ ⎤ dr;
⎣ ⎦ )
r0
R

( ) (
B2 ( r0 ) = ∫ ⎡( my + mxt θ cos ϕ )( r − r0 ) + I m2 − I m1 ζ sin ϕ cos ϕ + I m2 sin 2 ϕ + I m1 cos2 ϕ β ⎤ dr;
⎣ ⎦ )
r0
R

B3 ( r0 ) = ∫ ⎡⎣ mxt r (β cos ϕ − ζ sin ϕ ) + θI m ⎤⎦dr ,

r0

where β, ζ, γ are the blade angles of flapping, rolling and turning; xt is the coordinate of the center of
mass; r is the coordinate of the stiffness center for the undeformed blade cross-section; Cζ is the spring
stiffness in the vertical hinge; Cβ is the spring stiffness in the flapping hinge; I m is the blade linear mass
moment of inertia relative to the stiffness axis; I m1 , I m 2 are the blade linear mass moment of inertia
relative to the principal axes; e0 is the vertical hinge offset; r0 is the flapping hinge arm.
Expressions (5) for the Ai operators do not contain the terms depending on the blade displacements,
that is, on the parameters β, ζ, γ . The corresponding terms are conditionally attributed to external loads
and included into the expressions for Fi . Besides, in addition to aerodynamic loads, those inertial loads
are included in the equations for Fi , the expressions of which have the first derivatives with respect to
time of the variables β, ζ, γ and the terms containing the angles of the main rotor cyclic control.
Thus, we obtain the system of nonlinear integral-differential equations of main rotor oscillations that is
presented in the matrix form convenient for integration:
[ M ] {ζ  
} = [ F ] {ζ β γ } + { F0 } + [ Fr ] {ζ β γ } + [ Fc ] { θ1 θ 2 } + {O} + { Z } ,
T T T T
β γ d

where [ Fc ] = ⎡⎣ Fθ1θ2 ⎤⎦ − ⎡⎣ Aθ1θ2 ⎤⎦ − ⎡⎣ Bθ1θ2 ⎤⎦ is the control matrix; [ Fc ] = ⎡⎣ Fζβγ ⎤⎦ − ⎡⎣ Aζβγ ⎤⎦ is the stiffness matrix;
[ M ] is the mass matrix:

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 STUDY OF FEASIBILITY AND EXACTNESS FOR THE MATHEMATICAL ‘‘SEMIRIGID’’ 359

⎡ J 5 + J 7 − rc J1 + J 2 κrc J 6 + κJ 8 − J 4 + J 3 − J 8 − rc J 6 ⎤
M = ⎢⎢ J3 − J 4 J18 + J 7 + J19 − κ ( J 9 + rc J10 ) − rc J1 −rc J10 + J 9 ⎥⎥ ;
⎢⎣ − J8 −κJ 25 + J 9 J 25 ⎥⎦
⎡ ⎤
⎢ ρC yα ( J12 + rc J13 ) cos ψ + 2 ( J 4 − J 3 ) sin ψ 2 ( J 3 − J 4 ) cos ψ + ρC yα ( J12 + rc J13 ) sin ψ ⎥
⎢ ⎥
⎢ 1 1 ⎥
Fθ1θ2 = ⎢ − ρC ya ( J12 + rc J13 ) cos ψ − 2 ( J19 + J18 ) sin ψ 2 ( J19 + J18 ) cos ψ − ρC ya ( J12 + J13 ) sin ψ ⎥ ;
2 2
⎢ ⎥
⎢ α ⎛ 1 ⎞ α ⎛ 1 ⎞ ⎥
⎢ −ρC y ⎜ J 28 + J 33 ⎟ cos ψ −ρC y ⎜ 2e0 J 31 + J 28 + J 33 ⎟ sin ψ ⎥
⎣ ⎝ 2 ⎠ ⎝ 2 ⎠ ⎦
⎡ −rc cos ψJ 6 −rc sin ψJ 6 ⎤ ⎡ ( rc J 6 + J 8 ) cos ψ ( rc J6 + J8 ) sin ψ ⎤
⎢
Aθ1θ2
⎢
=⎢ cos ψJ 9 sin ψJ 9
⎥
⎥ ; Bθ1θ2 = ⎢( rc J10 − J 9 ) cos ψ ( rc J10 − J 9 ) sin ψ ⎥⎥ ;
⎢( J 23 − J 24 + e0 J10 ) cos ψ ( J 23 − J 24 + e0 J10 ) sin ψ ⎥⎦ ⎢ ⎥
⎣ ⎣ − J 25 cos ψ − J 25 sin ψ ⎦
⎧ ⎫
⎪ ρC yα ( J 20 + rc J16 ) − rc ( l0 J11 + J10 ) − 2 J 9 − e0 J1 ⎪
⎪ ⎪
⎪ 1 ⎪
F0 = ⎨ − ρC ya ω 2 ( J 20 − J16 ) − ω 2 J 8 ⎬;
⎪ 2 ⎪
⎪ 2 1 1 2⎪
⎪⎩ −ω ( J 4 − J 26 ) + 2 mzf ρJ 36 ω − e0 J 27 ω − 2 ρC y ( J 30 + J 40 ) ω ⎭⎪
2 2 α

⎡ 2 k ( J 4 − J 3 ) − ρC yα ( rc J13 + J12 ) ⎤
⎢ 2ρC y ( J 20 + rc J16 ) − 2rc J10 − 4 J 9 2 ( J3 − J 4 )
α
⎥
⎢ −2rc J 6 − 2 J 8 ⎥
⎢ 1 1 α 2 ⎥
Fd = ⎢ −ρC yα e0 ( rc J 21 − J16 ) rc ρC yα ( e0 J12 + kJ12 + e0 J13 + rc kJ13 ) − ρC y ω ( J12 + rc J13 ) ⎥ ;
⎢ 2 2 ⎥
⎢ ⎛1 ⎞ ⎥
⎢ −ρC yα ( J 30 + 2 J 40 ) + mzf ρJ 36 + 2 J 4 ρC yα ⎜ J 33 + J 28 ⎟ − 2 ( J19 + J18 ) 0 ⎥
⎢ ⎝2 ⎠ ⎥
⎣ ⎦
⎡ ρC yα ( −rc kJ13 − rc l0 J12 − ⎤
⎢ 2ρC y e0 ( rc J 21 + J16 )
α
ρC yα ( J12 + rc J13 ) ⎥
⎢ − kJ12 − l0 J13 ) ⎥
⎢ ⎥
1 α 1
Fζβγ =⎢ −ρC yα ω 2 e0 ( rc J 21 − J16 ) ρC y ( rc e0 J12 + k ωJ12 + e0 J13 + rc kJ13 ) − ρC yα ω 2 ( J12 + rc J13 ) ⎥ ;
⎢ 2 2 ⎥
⎢ ⎥
⎛ 1 ⎞ ⎛1 ⎞ ⎛ 1 ⎞
⎢
(
⎢ρω 2 e0 mzf J 37 − C yα ( J 32 + 2 J 41 ) ) k ⎜ J 28 + J 33 ⎟ + e0 ⎜ J 29 + J 31 ⎟
⎝ 2 ⎠ ⎝2 ⎠
−ρC yα ω 2 ⎜ J 28 + J 33 ⎟ ⎥
⎝ 2 ⎠⎥
⎣ ⎦
⎡ Cζ ⎤
⎢ 2 + rc J1 − J 5 − J12 rc kJ 6 − J 3 − J 4 −ω 2 rc J 6 ⎥
⎢ω ⎥
⎢ Cβ ⎥
Aζβγ = ⎢ − J3 + J 4 − J19 + J18 − kJ 9 J9 ⎥.
⎢ ω 2
⎥
⎢ Cζ ⎥
⎢ 0 J 9 − k ( J 23 − e0 J10 ) + J 23 − J 24 + e0 J10 ⎥
⎣ ω 2
⎦
The nonlinear terms of equations are denoted as Z i , the remaining components including the equation
terms with the period multiple of the main rotor revolution is Oi . As an example, some of 263 integrals
J i obtained are presented:

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360 NIKOLAEV, ANTOSHKINA

R R R R

J1 = ∫ mrdr; J 2 = ∫ I m 2 cos ϕ 2 dr; J 3 = ∫ I m 2 sin ϕ cos ϕdr; J 4 = ∫ I m1 sin ϕ cos ϕdr;

rc rc rc rc
R R R R

J 5 = ∫ I m1 sin ϕ 2 dr; J 6 = ∫ mxt sin ϕdr; J 7 = ∫ mr 2 dr; J8 = ∫ mxt sin ϕrdr;

rc rc rc rc
R R R R

J 9 = ∫ mxt r cos ϕdr; J10 = ∫ mxt cos ϕdr; J100 = ∫ b2 vyc 2 rdr; J101 = ∫ b2 vyc 2 dr;
rc rc rc rc
R R R R

J102 = ∫ x f sin ϕbvys1 rdr; J103 = ∫ x f sin ϕbvy0 vys 3 dr; J104 = ∫ x f cos ϕbvyc 2 rdr; J105 = ∫ b 2 vyc 3 rdr;
rc rc rc rc
R R R R

J106 = ∫ x f sin ϕbϕv yc 3 dr; J107 = ∫ x f sin ϕbϕvyc 3 rdr; J108 = ∫ x f sin ϕbvys1 dr; J109 = ∫ x f sin ϕb 2 v y0 dr.
rc rc rc rc

ζ, rad ζ, rad
0.1 0.2
0 0
–0.1 0 0.4 0.8 1.2 t, s –0.2 0 0.4 0.8 1.2 t, s
Linear Nonlinear –0.4 Linear Nonlinear
–0.2
oscillations oscillations oscillations oscillations
β, rad β, rad
0.3 0.4
0.2 0.2
0.1
0
0 0 0.4 0.8 1.2 t, s
–0.1 0 0.4 0.8 1.2 t, s –0.2
γ, rad
γ, rad
0 0.4 0.8 1.2 t, s 0.15
0
0.1
–0.04
0.05
–0.08 0
–0.12 –0.05 0 0.4 0.8 1.2 t, s
(a) (b)

Fig. 1. Blade oscillations in three planes at the flight speed 50 (a) and 300 km/h (b).

A program in the MATLAB environment for numerical computation to realize this problem was
developed. The equations obtained were integrated with respect to time. The solution consists of two
parts, namely, linear and nonlinear parts. The results of calculation are presented in Fig. 1.

ANALYSIS OF NONLINEAR EQUATION TERM VALUES DEPENDING ON THE FLIGHT

REGIME AND CALCULATION TYPE

It is necessary to analyze (table) the nonlinear equations {Oi } obtained that represent the column
matrix from three functions for their further application in calculations.

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 STUDY OF FEASIBILITY AND EXACTNESS FOR THE MATHEMATICAL ‘‘SEMIRIGID’’ 361

Table
Variant of Flight speed Number of summands
simplification km h O 1 + Z1 O 2 + Z2 O 3 + Z3
without selection all 1845 + 153 = 1998 754 + 87 = 841 1996 + 144 = 2140
up to 0.1 % 50 99 + 28 = 127 70 + 20 = 90 115 + 24 = 139
300 117 + 39 = 156 87 + 19 = 106 205 + 35 = 240
up to 1 % 50 28 + 13 = 41 20 + 11 = 31 26 + 17 = 43
300 45 + 19 = 64 59 + 7 = 66 111 + 11 = 122
up to 10 % 50 10 + 3 = 13 7 + 6 = 13 9 + 10 = 19
300 14 + 4 = 18 16 + 5 = 21 27 + 6 = 33
Below we present the summands having the value larger than 10 %.
1. For speed 50 km h :
1 1
O1 = ρC yα ω J191 − ρC x ω 2 J14 + 2ω 2 xc J1 ;
2 2
1 α
O2 = ρC y ω ⎣⎡ω J 20 − rc ω J16 − J173 − J182 cos ψ − ( J199 − 2ω RμJ16 ) sin ψ ⎦⎤ ;
2
1
( )
O3 = ρC yα ⎡⎣ω 2 J 30 + 2ω 2 RμJ 32 − ω J115 sin ψ − ω J130 cos ψ − ω J133 ⎤⎦
2
1
( )
+ mzfα ρ ⎡⎣ω 2 J 45 − ω J119 + 2ω 2 RμJ 49 − ω J 80 sin ψ − ω J120 cos ψ ⎤⎦ ;
2
1
Z1 = ρC yα ω J14βγ
2
( 14 182 (
 − J β 2 + ω J γ − 2ω RμJ γ − 2 J β + ω 2 RμJ β cos ψ
168 182 16 )
(
+ ωθ J β − 2 J β sin ψ − 2ββω
2 14 199 ) )
 ( 2r J + J ) ;
c 1 7

⎛
Z 2 = ρC yα ⎜ ω 2 Rβμ ( rc J12 − J13 ) cos ψ + ω J 36 γ − ω 2 J14ζβ + ω RJ13 μ ( 2ω γ − β ) sin ψ ) − 2ω J 7ζβ
1 3  ;
2 ⎝ 4
1 α ⎡
( )
Z 3 = ρC y ω RμJ 29 2ωγ − β sin ψ − ω Rμ ( J 29β + 2 J 32ζ ) cos ψ − ω J 33ζβ ⎤
2 ⎣ ⎦
⎡ 1 ⎛ 1 ⎞ ⎤
− mzfα ρω ⎢ ω ( J 36ζβ + RμJ 37 cos ψ ) + RμJ 37 ⎜ ω γ − β ⎟ sin ψ ⎥ .
⎣ 2 ⎝ 2 ⎠ ⎦
2. For speed 300 km h :
1 ⎛1 ⎞
O1 = ρC yα ω J191 + 2ω 2 xc J1 − ρC x ω 2 ⎜ J14 − RμJ13 sin ψ ⎟ ;
2 ⎝2 ⎠
1 α 2
O2 = ρC y ω ⎡⎣ J 20 − rc J16 + R 2 μ 2 J 21 sin 2 ψ − 2 ( rc J 21 + J16 ) Rμ sin ψ ⎤⎦ ;
2
1 α 2 1
O3 = ρC y ω ⎡⎣ J 30 + R 2 μ 2 J 39 sin 2 ψ + 2 RμJ 32 sin ψ ⎤⎦ + mzα ρω 2 ⎡⎣ R 2 μ 2 J 46 sin 2 ψ + 2 RμJ 49 sin ψ + J 45 ⎤⎦ ;
2 2
1
(
Z1 = ρC yα ω 2 Rμβ ( θ1 J13 − RJ12β ) cos2 ψ − 2ω J14β βζ
2
( )
 + γ + ω RμJ β sin ψ
16

( ) )
+ω Rβμ ω J16 − 2 J13β cos ψ − J14β 2 − J 7 ζζ 2 − J 7β 2ζ + 2ω J 7ββ − J17ζββ (
 + ζζ ;
 − 4ω r J ββ
c 1 )
Z2 =
1
2
(
ρC yα −ω RJ13 βμ (ζ − ω ) cos ψ + 2ω Rμ ( ω J 
) 
13 γ + J16 ζ sin ψ − J14 ζβ − ω
2
(
J 20β 2 + ρJ14ζβ )
1
(
−2 J 7βζ 2 θ1ω J14 cos ψ − ω 2 R 2 μ 2 J12β sin 2 ψ + 2ω J14 γζ + ω RμJ16ζ cos ψ ⎟ −
2
⎞
⎠
)
−2ω J 7βζ − J 7β 2β
 − ω RμJ βρ  sin ψ + 1 ω 2 J β 2 ;
13 17
2

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362 NIKOLAEV, ANTOSHKINA

1
(( ( )) (
Z 3 = ρC yα ω 2θ1 J 33ζ − ω R 2 μ 2 J 35β sin ψ − ω RμJ 29β 1 + ζ cos ψ − J 30 β 2 ω 2 + ζβ
2
)
  − ω RμJ β sin ψ
29

( ))
+2μJ 32ζ cos ψ + 2ω Rμ ( J 29 ( γ − ζβ ) + RμJ 35 γ sin ψ ) sin ψ + J 32ζ + ω J 33 2 γζ − ζβ
1
( ( ) )
+ mzα ρ ⎡2ω J 36 γζ + ω Rμ 2ω J 49ζ − J 37β ζ + ω − ω RμJ 38β sin ψ cos ψ − J 36 ζβ
2 ⎣ (  − ω 2ζβ
)
( ( ) )
+ω Rμ J 37 ω ( 2 γ − ζβ ) − β + 2 J 49ζ sin ψ + 2θ1ω J 36ζ cos ψ − ω 2 J 45β 2 ⎤⎦ .
The Maple symbol computation environment is used to facilitate the computations and eliminate the errors
in deriving equations. The obtained expressions of matrix elements are formed as a code and transferred in the
MATLAB environment for numerical computation of definite integrals and integration of a system of
differential equations with respect to time. An effective technique of integrating matrices [10] is applied for
the numerical calculation of definite integrals along the blade length, and the fourth order accurate technique
[9] is used to integrate the system of nonlinear equations obtained with respect to time. The techniques being
used make it possible to obtain the result in the acceptable scale of time with a sufficient accuracy.
The results presented in this work were found for 23 design points along the blade with a constant time
interval of Δt = 2.5 × 10 −5 s, which is sufficient for the detailed description of the highest frequencies of
the adjusting (torsional) oscillations being modeled according to the “semirigid” scheme. For clarity, the
process of integrating the equations of blade oscillations can be divided into three stages: at first, the
linear equations with the periodic right-hand part (three revolutions of the blade) are integrated, after that
one transient turn to the calculation of nonlinear equations is performed, and in conclusion, eight blade
revolutions with the solution of nonlinear equations are calculated.
The time of one blade revolution is 0.164 s. It takes 29.4 min (1762.5 s) to compute 12 revolutions
with the clock frequency 2.4 GHz without parallel processing according to the complete mathematical
model. When the incomplete equations are used, the time of calculation is reduced, and it is 3.2 min
(193.6 s), 4.8 min (290.4 s), and 8.2 min (491.3 s), respectively, for the equations containing the terms of
the magnitude more than 10, 1 and 0.1 % of its maximum value. The time of calculating the linear
equations is six times less than the nonlinear ones. The necessary calculation time varies proportionally
with changing the time step value.

ANALYSIS OF RESULTS
As an example, we computed the oscillations of the Ansat helicopter blade. In this case, the blades are
fastened to the shaft by an elastic component. The stiffness of the elastic component is simulated by
the springs with stiffness corresponding to the main oscillation frequencies. We present the results of solving
the equation obtained for two flight regimes, namely, for the low and maximum speeds. At low speeds there
arises a problem connected with the blade vibration and strength at variable loads; at high speeds it is
necessary to determine the blade strength with respect to the hinge moments and solve the flutter and
divergence problems.
The solution for the stationary blade oscillations in three planes was obtained (Fig. 1). It can be seen
that the oscillation pattern at linear and nonlinear calculations is different. At low speeds the nonlinear
terms of the equation exert an influence on the character of blade motion in the rotation and twist planes.
The oscillation amplitude and frequency substantially differ according to the flight regime. Here, it is
necessary to take notice that blade instability may occur with the “chord” flutter at the maximum
helicopter takeoff weight.
The oscillation amplitude in all directions being considered increases at high flight speeds. This may
be seen particularly with an example of torsional oscillations, when the natural-oscillation frequency of
the blade with the elastic control circuit starts to affect and the significant increase of hinge moments is
observed (Fig. 3). For these regimes the flow nonuniformity around the blade results from the high flight
speed, significant helicopter pitch angle, and great expenses of rotor cyclic pitch to control. At high flight
speeds the blade instability may also occur with respect to conventional flutter and divergence.

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 STUDY OF FEASIBILITY AND EXACTNESS FOR THE MATHEMATICAL ‘‘SEMIRIGID’’ 363

(a) (b)

Fig. 2. Blade oscillations with respect to azimuth at the flight speed of 50 (a) and 300 km/h (b) for linear (1) and
nonlinear part of solution with summands being 100 (2), 0.1 (3), 1 (4) and 10 % (5) of maximal value.

The study of the nonlinear equation terms influence showed that at different flight regimes the solution
accuracy depends on the different equation terms, although there are the invariably significant summands
regardless of the flight regime.
Influence of reducing the equations on the results of calculations can be most clearly demonstrated by
the relations of blade angular accelerations (Fig. 4). The nonlinear equation terms have an influence at
the maximum flight speeds, while when low speeds are studied, we can retain only the terms with the value
larger that 1 %, and in some cases larger than 10 % from the maximal value. This makes it possible not only
to save computational resources, but also facilitate the step-by-step analysis of the results obtained.
At the maximal flight speeds we can retain the equation terms with the value up to 0.1 %. This makes
it possible to attain a more exact result, although application of the reduced equations will cause
an increase of the oscillation amplitude and must increase the margin for the flutter.
Thus, we study the feasibility and exactness of the mathematical, kinematically nonlinear model of
the “semirigid” blade depending on the flight regime and calculation type (blade strength and stability
of its oscillations). Taking into account the extent to which the results are affected, the significant terms
of the nonlinear equations of blade oscillations were chosen. The equations obtained are suitable to
analyze the blade strength and its flutter stability. It was shown that consideration of the nonlinear
equation terms of the blade oscillation jointly with the influence of inductive velocities permits the main
rotor oscillations to be simulated at low flight speeds and the value of a variable part for the hinge
moment at the maximal flight speeds to be predicted.

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364 NIKOLAEV, ANTOSHKINA

(a) (b)

Fig. 3. Load in the blade root with respect to azimuth at flight speed 50 (a) and 300 km/h (b) (notation is the same as in Fig. 2).

(a) (b)

Fig. 4. Angular accelerations of the blade with respect to azimuth at flight speed 50 (a) and 300 km/h (notation is the
same as in Fig. 2).

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 STUDY OF FEASIBILITY AND EXACTNESS FOR THE MATHEMATICAL ‘‘SEMIRIGID’’ 365

The equations derived enable us to study the problem of vibration control employing the different
types of vibration dampers. For this purpose, it is necessary to add the equation of vibration damper in the
system of three equations obtained and connect them for their joint solution.
The reduced linear equations enable us to determine approximately the zones of flutter and divergence
blade instability using the classical methods. The position of these zones can be refined by numerical
integration of complete nonlinear equations with respect to time.
It is suggested that the blade chord flutter instability for the heavily loaded main rotors at oscillations
in the flapping and rotation planes be studied by the similar technique.

REFERENCES
1. Mil’ M.L., Nekrasov, A.V., Braverman, L.S., et al., Vertolety. Raschet i proektirovanie (Helicopters.
Calculation and Design), Mil’ M.L., Ed., Moscow: Mashinostroenie, 1966, vol. 1, p. 455.
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RUSSIAN AERONAUTICS Vol. 55 No. 4 2012