LIMIT CYCLE OSCILLATIONS IN HIGHASPECTRATIO WINGS


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1 LIMIT CYCLE OSCILLATIONS IN HIGHASPECTRATIO WINGS Mayuresh J. Patil, Dewey H. Hodges Georgia Institute of Technology, Atlanta, Georgia and Carlos E. S. Cesnik Massachusetts Institute of Technology, Cambridge, Massachusetts AIAA Abstract The paper presents results obtained for limitcycle oscillations (LCOs) in highaspectratio wings due to structural and stall nonlinearities. The analysis is based on geometricallyexact structural analysis and finitestate unsteady aerodynamics with stall. The results indicate that stall limits the amplitude of postflutter unstable oscillations. Even at speeds below the linear flutter speed, however, LCOs can be observed if the stable steady state is disturbed by a finiteamplitude disturbance. A critical disturbance magnitude is required at a given speed and a critical speed is required at a given disturbance magnitude to initiate LCOs. It is also observed that the LCO gets increasingly complicated with increasing speed. Period doubling is observed followed by loss of periodicity. Introduction The linear theory of stability, when applied to aeroelasticity problems, typically leads to a set of eigenvalues. It predicts that small disturbances applied to a system at an unstable equilibrium grow exponentially. As far as it goes, linear theory is correct, i.e., small disturbances do grow exponentially at least at first. However, one should not regard the results of linear theory to have any significance whatsoever regarding the behavior of a system subjected to large disturbances, Graduate Research Assistant, School of Aerospace Engineering Member, AIAA. Professor, School of Aerospace Engineering, Fellow, AIAA. Member, AHS. Assistant Professor of Aeronautics and Astronautics. Senior Member, AIAA. Member, AHS. Copyright c 1999 by Mayuresh J. Patil, Dewey H. Hodges and Carlos E. S. Cesnik. or after a long time elapses from an initial small disturbance. For example, according to linear theory the system will continuously go away from the unstable equilibrium to infinity (or material failure). This does not always comport with experimental evidence, and nonlinear analysis methodology has been developed to remedy this problem. 1 If a system has a nonlinear stiffening term, then in most occasions the amplitude of oscillations will grow until a LimitCycle Oscillation (LCO) is reached. LCOs, though stable in the sense of Lyapunov, are not asymptotically stable. That is, although the final state is bounded, the system will not asymptotically approach its original equilibrium state as time grows. Moreover, LCOs are not necessarily a result of a linear instability. LCOs can be induced by certain disturbances, if sufficiently large, even when the given equilibrium state is stable. Basically, if the disturbances are not small, then the response cannot be predicted by theories that are linearized about a nonlinear steady state. Depending on the amplitude of the LCO, the structure may or may not experience immediate failure. However, for an aircraft, LCOs pose significant problems in their own right. The vibration caused by LCOs causes fatigue, reducing the useful life of the structure. Thus, efficient prediction of LCOs is very important during design, especially for aircraft flying near the limits of the linear assumptions. Theoretical investigation of parameters affecting LCOs in an aircraft is a difficult task, even for very loworder systems. The investigation of a realistic wing with an accurate representation of the aerodynamics leads to a very computationally intensive task. Presently, computational methods which simulate the system behavior are used to obtain time histories of motion, which are then used to study any observed LCO. It is necessary to investigate LCO in the best possible way so as to get Presented at the th Structures, Structural Dynamics and Materials Conference, St. Louis, Missouri, April 1 1, 1999
2 a deeper understanding of its initiation and sustaining mechanisms. There are two main motivating factors for the present study, i) to investigate LCO in a highaspectratio composite (highly flexible) wing, like those to be used in future highaltitude longendurance unmanned aerial vehicles, using time response analysis, and, ii) to investigate other methods that could be used to study LCO in complex continuous systems. There are various modalities to analyze and predict LCO. Given below are a few which have been recently applied to aeroelastic LCO study. Time Marching: In this method the system is simulated in time for various initial conditions. And the response is plotted in time or as a phaseplane plot to see if i) the response is diverging and ii) does it converge to a LCO. This is very much computer time intensive and one needs to select a set of initial conditions relevant to the problem at hand. Tang, Conner and Dowell used reduced order finite state inflow model to analyze the nonlinear behavior of airfoil sections with free play nonlinearities. Tang and Dowell 3 have analyzed the nonlinear behavior of a flexible rotor blade due to structural, freeplay and aerodynamic stall nonlinearities. The analytical results were compared with experimental observations. In both cases timemarching was used. The authors of the present paper have presented results on the LCO observed in a stiff metallic wings in an earlier work. Finite elements in space and time were used for time integration. This kind of analysis will be used in the present paper. Harmonic Balance: In this analysis the response is assumed to be a linear combination of a set number of harmonics. The solution is obtained by solving the nonlinear algebraic equations associated with all the harmonics. This type of analysis can often be improved by taking a larger number of harmonics. Unfortunately, it is not always possible to write the nonlinearities in terms of a set of harmonics, and even if it is, it may be too cumbersome. Dunn and Dugundji used Fourier analysis to extract the relevant harmonics from the ON ERA model and then used the harmonic balance method to predict LCO in a platelike composite wing. The results obtained were compared with experimental data. The use of harmonic balance method for spatially continuous nonlinear problems (flexible wings) needs to be investigated. Wavelet filtering: This is a technique still under development and basically involves running the time histories through a filter to get the Fourier components at various time steps. It is only a filtering (rather than analysis) technique and thus can take time histories from either experimental data or computation. It is useful in prediction of the onset of LCO. This analysis has been proposed by Lind, Snyder and Brenner, 6 and has been used successfully to predict LCO using the airfoil data generated by Strganac and coworkers. 7 Experimental Results: Apart from the experimental data for wing LCOs obtained by Tang and Dowell, and Dunn and Dugundji, O Neil and Strganac 7 have obtained results for an airfoil on a nonlinear support system. A later theoretical analysis using the method of multiple scales by Gilliatt, Strganac and Kurdila 8 includes nonlinearities due to stall in a quasisteady way. The objective is to predict internal resonance in such a model and to explore its effect as a LCO triggering mechanism. Aeroelastic Model The aeroelastic model used in the present analysis is based on two separate works, viz., i) mixed variational formulation based on exact intrinsic equations for dynamics of beams in a moving frame, 9 and ii) finitestate airloads for deformable airfoils on fixed and rotating wings. 1, 11 The former theory is a nonlinear intrinsic formulation for the dynamics of initially curved and twisted beams. There are no approximations to the geometry of the reference line of the deformed beam or to the orientation of the crosssectional reference frame of the deformed beam. A compact mixed variational formulation can be derived from these equations which is wellsuited for loworder beam finite element analysis based in part on the paper by Hodges. 9 The latter work presents a statespace theory for the lift, drag, and all generalized forces of a deformable airfoil. Trailing edge flap deflections are included implicitly as a special case of generalized deformation. The theory allows for a thin airfoil which can undergo arbitrary small deformations with respect to a reference frame which can perform arbitrarily large motions. Coupling the structural and aerodynamics models one gets the complete aeroelastic model. 1 Finite elements in space and time are used to march in time and get the dynamic nonlinear behavior of the system. This kind of analysis is useful in finding the amplitudes of the limit cycle oscillations if the system is found unstable
3 WING Half span 16 m Chord 1m Mass per unit length.7 kg/m Mom. Inertia (% chord).1 kg m Spanwise elastic axis % chord Center of gravity % chord Bending rigidity 1 Nm Torsional rigidity 1 1 Nm Bending rigidity (chordwise) 1 6 Nm FLIGHT CONDITION Altitude km Density of air.889 kg/m 3 Table 1: Model data as well as to study the response of the system for finite disturbances. The formulation is given in detail in an earlier paper. 1 Results Table 1 gives the structural and planform data for the wing model under investigation. The data was obtained by modifying Daedalus data. The linear and nonlinear flutter speed for this model has been calculated and presented in Ref. 13. The linear flutter speed and frequency are 3.1 m/s and.61 rad/sec respectively. Results are first presented for postflutter behavior. These are followed by LCO results for speeds below the linear flutter speed. Postflutter behavior The time history of the tip displacement, tip twist and total energy of the wing are plotted in Fig. 1 for a flight speed of 33 m/s (above the flutter speed). The time history and phaseplane plots have been obtained by giving a small initial disturbance of.1 m at the tip in the vertical direction. The plots of time history clearly show that the amplitude of oscillation initially increases exponentially, but eventually settles into a limited amplitude oscillation. After a certain time of what looks like a converged LCO, the oscillations become aperiodic. This phenomenon is initiated by a drastic change in the tip displacement response. Instead of oscillating about tip displacement values near zero, the oscillations are shifted. The oscillations are of the order of 1. ± 1. m. The response is still very much physical but chaotic due to the strong goemetric nonlinearities associated with 1. m oscillations. The geometric nonlinearities due to tip displacement and its effect on aeroelastic response in explained in detail in the following section. Figs. and 3 show the phaseplane plots of the oscillation after the limiting amplitude oscillations are reached at speeds of 33 m/s and 3 m/s. It is again observed that the oscillations are aperiodic and quite chaotic. Flutter speed and tip displacement Fig. shows the change in flutter speed and frequency with tip displacement. The results are obtained by applying a tip load and conducting flutter analysis about the deformed state. There is a drastic decrease in the flutter speed with tip displacement. This is due to a decrease in the frequency of the torsion/edgewise bending mode. More discussion on this phenomenon can be found in Ref. 13. Fig. 6 shows the changes in frequency and damping of the significant mode with tip displacement at various speeds. One can see the positive slope of damping with tip displacement, i.e., the damping decreases at stable speeds, and when unstable, the instability becomes more pronounced. This is a very important phenomenon and could be the root cause of most of nonlinear aeroelastic behavior presented here, as will be discussed below. Fig. shows the variation of the dominant modal frequency with time for the case considered in the earlier section (flight speed of 33 m/s). This plot is obtained by wavelet analysis. There is a significant decrease in the oscillation frequency. This corresponding to the time the change in the mean position of oscillation is observed in Fig. 1. It is possible that this change in the aeroelastic behavior is due to the positive slope of the damping versus tip displacement. For the case of LCO above the flutter speed, the system instability becomes stronger by having a mean tip displacement, so that there is a greater flow of energy from the surrounding air into the wing. The point against such a change in mean tip displacement and the corresponding frequency is that it needs to somehow dynamically satisfy the mean deformation shape by appropriately providing a mean force. If such a force could be easily provided then it would mean an easy transition into a state with stronger instability. LCOs at speeds lower than linear flutter As seen in Fig. the flutter speed is much lower for a finite tip displacement. Thus, to excite the flutter 3
4 Initial Dist. m/s m/s m/s m/s m/s.1 m Stab. Stab. Stab. Stab. LCO 1m Stab. Stab. Stab. LCO LCO m Stab. Stab. LCO LCO LCO m Stab. LCO LCO LCO LCO Flutter LCO LCO LCO LCO LCO Table : Observed LCO chart modes below the flutter speed a finite disturbance is required. Fig. 7 present the time histories at various speeds and initial tip disturbances. It is observed that a critical magnitude of disturbance is required to excite an LCO at a given speed, but above the critical condition the LCO does not change in character. On the other hand, a critical speed is also required to excite the LCO for a given disturbance. Above the critical speed one observes different and higher amplitude LCO. Table shows this qualitative trend of stable behavior versus LCO for various speeds and magnitudes of disturbance. The dampingtip displacement relationship might again be used to explain this behavior. From the plots it is clear that at high tip displacements, the damping is positive. As the system tries to come back to a zero deflection steady state, it is passing through a dynamically unstable state, and thus the system is dynamically absorbing energy. If the system absorbs more than a critical amount of energy before it reaches the zero steady state, it then jumps to the high energy unstable state about a deformed state and dynamically provides the forces required to maintain such a mean deformed state. Figs. 8, 9, 1, and 11, show the phaseplane plots of LCO observed at speeds of 3m/s, 3 m/s, 8m/s, and m/s, respectively. Tip disturbances of 1m, m, and m were required for LCOs at 3m/s, 3 m/s, 8m/s, whereas the LCO at m/s was obtained by using LCO at 3m/s as the initial condition, i.e., while undergoing LCO at 3 m/s the speed of air was decreased to m/s. If one looks at the phaseplane plot, one sees a clear increase in complexity of the LCO with speed. Period doubling occurs between m/s and 8 m/s and at around 3 m/s the response starts losing its periodicity. Observing the LCO phaseplanes at higher speeds presented earlier (Figs., 3), there is close to a continuous increase in complexity, and postflutter behavior seems quite chaotic. Concluding Remarks The phenomenon of limitcycle oscillation (LCO) is numerically studied for a subsonic highaspectratio wing. Due to large displacements and rotations, the results account for structural and aerodynamic (stall) nonlinearities through the use of a geometricallyexact beam analysis and finitestate unsteady aerodynamics with stall. As expected, the results show that stall limits the amplitude of postflutter unstable oscillations. Geometrical nonlinearities are responsible for the low nonlinear flutter speed. Thus, even at speeds below the linear flutter speed, LCO can be observed if the stable steady state is disturbed by a finiteamplitude disturbance. A critical disturbance magnitude is required at a given speed or a critical speed is required at a given disturbance magnitude to initiate LCO. Moreover, a loss of periodicity in the oscillations is observed for high speeds. Acknowledgments This work was supported by the U.S. Air Force Office of Scientific Research (Grant number F ), the technical monitor of which is Maj. Brian P. Sanders, Ph.D. The Daedalus model data provided by Prof. Mark Drela (MIT) is gratefully acknowledged. References [1] Nayfeh, A. H. and Mook, D. T., Nonlinear Oscillations, John Wiley and Sons, New York, [] Tang, D., Conner, M. D., and Dowell, E. H., ReducedOrder Aerodynamic Model and Its Application to a Nonlinear Aeroelastic System, Journal of Aircraft, Vol. 3, No., Mar Apr 1998, pp [3] Tang, D. M. and Dowell, E. H., Experimental and Theoretical Study for Nonlinear Aeroelastic Behavior of a Flexible Rotor Blade, AIAA Journal, Vol. 31, No. 6, June 1993, pp [] Patil, M. J. and Hodges, D. H., Nonlinear Aeroelasticity and Flight Dynamics of Aircraft in Subsonic Flow, In Proceedings of the 1st Congress of International Council of the Aeronautical Sciences, Australia, Sept , 1998, AIAA Paper A [] Dunn, P. and Dugundji, J., Nonlinear Stall Flutter and Divergence Analysis of Cantilevered Graphite/Epoxy Wings, AIAA Journal, Vol. 3, No. 1, Jan. 199, pp
5 [6] Lind, R., Snyder, K., and Brenner, M., Investigating Transient and Limit Cycle Behaviors of a Nonlinear Structure by Wavelet Transforms, In Proceedings of the 39th Structures, Structural Dynamics, and Materials Conference, Long Beach, California, April 1998, pp [7] O Neil, T. and Strganac, T. W., Nonlinear Aeroelastic Response  Analyses and Experiments, In Proceedings of the 3th Aerospace Sciences Meeting and Exhibit, Reno, Nevada, Jan 1996, AIAA [8] Gilliatt, H. C., Strganac, T. W., and Kurdila, A. J., On the Presence of Internal Resonances in Aeroelastic Systems, In Proceedings of the 39th Structures, Structural Dynamics, and Materials Conference, Long Beach, California, April 1998, pp.. [9] Hodges, D. H., A Mixed Variational Formulation Based on Exact Intrinsic Equations for Dynamics of Moving Beams, International Journal of Solids and Structures, Vol. 6, No. 11, 199, pp [1] Peters, D. A. and Johnson, M. J., FiniteState Airloads for Deformable Airfoils on Fixed and Rotating Wings, In Symposium on Aeroelasticity and Fluid/Structure Interaction, Proceedings of the Winter Annual Meeting. ASME, November 6 11, 199. [11] Peters, D. A., Barwey, D., and Johnson, M. J., FiniteState Airloads Modeling with Compressibility and Unsteady FreeStream, In Proceedings of the Sixth International Workshop on Dynamics and Aeroelastic Stability Modeling of Rotorcraft Systems, November 8 1, 199. [1] Patil, M. J., Hodges, D. H., and Cesnik, C. E. S., Nonlinear Aeroelastic Analysis of Aircraft with HighAspectRatio Wings, In Proceedings of the 39th Structures, Structural Dynamics, and Materials Conference, Long Beach, California, April 3, 1998, pp [13] Patil, M. J., Hodges, D. H., and Cesnik, C. E. S., Nonlinear Aeroelasticity and Flight Dynamics of Aircraft in Subsonic Flow, In Proceedings of the th Structures, Structural Dynamics and Materials Conference, Saint Louis, Missouri, April 1 1, 1999, AIAA Paper 9917, to appear.
6 total energy (joules) Figure 1: Time history showing LCO above Flutter speed (speed = 33 m/s) 6
7 ti twist (deg) ti twist (deg) ti vertical velocity (m/s) 1 ti vertical velocity (m/s) ti angular velocity (rad/s) ti angular velocity (rad/s) Figure : Various phaseplane plots at speed = 33 m/s Figure 3: Various phaseplane plots at speed = 3 m/s 7
8 flutter frequency (rad/s) speed (m/s) flutter speed flutter frequency steady state tip displacement (m) Figure : Variation of flutter speed and frequency with tip displacement dominant frequency (rad/s) Figure : Variation of oscillation frequency with time damping*1 frequency (rad/s) damping*1 frequency (rad/s) speed = m/s 1 3 steady state tip displacement (m) speed = 3 m/s steady state tip displacement (m) speed = 3 m/s damping*1 frequency (rad/s) 1 1 damping frequency damping frequency damping frequency 1 3 steady state tip displacement (m) Figure 6: Variation of damping and frequency with tip displacement for various speeds 8
9 tip displacement time history for speed = 3 m/s init. tip dist. = 1 m init. tip dist. = m init. tip dist. = m tip displacement time history for initial tip disturbance = m speed = m/s speed = 8 m/s speed = 3 m/s Figure 7: Time history plots for tip vertical displacement at various speeds and initial tip disturbances 9
10 ti twist (deg) ti twist (deg) ti vertical velocity (m/s) 1 tip vertical velocity (m/s) ti angular velocity (rad/s) ti angular velocity (rad/s) Figure 8: Various phaseplane plots for speeds = 3 m/s (init. dist. =1m) Figure 9: Various phaseplane plots for speeds = 3 m/s (init. dist. =m) 1
11 3 3 ti twist (deg) 1 1 ti twist (deg) tip vertical velocity (m/s) tip vertical velocity (m/s) ti angular velocity (rad/s) tip angular velocity (rad/s) Figure 1: Various phaseplane plots for speeds = 8 m/s (init. dist. = m) Figure 11: Various phaseplane plots for speeds = m/s (init. dist. is a prior flutter condition) 11
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