Performance and flowfield measurements were conducted on a small-scale cyclorotor for application to a micro air vehicle. Detailed parametric studies were conducted to determine the effects of the number of blades, rotational speed, and blade pitching amplitude. The results showed that power loading and rotor efficiency increased when using more blades; this observation was found over a wide range of blade pitching amplitudes. The results also showed that operating the cyclorotor at higher pitching amplitudes resulted in improved performance, independently of the number of blades. A momentum balance performed using the flowfield measurements helped to quantify the vertical and sideward forces produced by the cyclorotor; these results correlated well with the force measurements made using load balance. Increasing the number of blades increased the inclination of the resultant thrust vector with respect to the vertical because of the increasing contribution of the sideward force. The profile drag coefficient of the blade sections computed using a momentum deficit approach correlated well with typical values at these low chord Reynolds numbers. Particle image velocimetry measurements made inside the cage of the cyclorotor showed that there are rotational flows that, when combined with the influence of the upper wake on the lower half of the rotor, explain the relatively low efficiency of the cyclorotor.

Improving the Aerodynamic Performance of Micro-Air-Vehicle-Scale Cycloidal Rotor: An Experimental Approach

Performance of a Cycloidal Rotor Concept for Micro Air Vehicle Applications

Title of dissertation: FUNDAMENTAL UNDERSTANDING OF THE CYCLOIDAL-ROTOR CONCEPT FOR MICRO AIR VEHICLE APPLICATIONS Moble Benedict, Doctor of Philosophy, 2010 Dissertation directed by: Professor Inderjit Chopra Department of Aerospace Engineering The cycloidal-rotor (cyclorotor) is a revolutionary flying concept which has not been systematically studied in the past. Therefore, in the current research, the viability of the cyclorotor concept for powering a hover-capable micro-air-vehicle (MAV) was examined through both experiments and analysis. Experimental study included both performance and flow field measurements on a cyclorotor of span and diameter equal to 6 inches. The analysis developed was an unsteady large deformation aeroelastic analysis to predict the blade loads and average aerodynamic performance of the cyclorotor. The flightworthiness of the cyclorotor concept was also demonstrated through two cyclocopters capable of tethered hover. Systematic performance measurements have been conducted to understand the effect of the rotational speed, blade airfoil profile, blade flexibility, blade pitching amplitude (symmetric and asymmetric blade pitching), pitching axis location, number of blades with constant chord (varying solidity), and number of blades at same rotor solidity (varying blade chord) on the aerodynamic performance of the cyclorotor. Force measurements showed the presence of a significant sideward force on the cyclorotor (along with the vertical force), analogous to that found on a spinning circular cylinder. Particle image velocimetry (PIV) measurements made in the wake of the cyclorotor provided evidence of a significant wake skewness, which was produced by the sideward force. PIV measurements also captured the blade tip vortices and a large region of rotational flow inside the rotor. The thrust produced by the cyclorotor was found to increase until a blade pitch amplitude of 45 was reached without showing any signs of blade stall. This behavior was also explained using the PIV measurements, which indicated evidence of a stall delay as well as possible increase in lift on the blades from the presence of a leading edge vortex. Higher blade pitch amplitudes also improved the power loading (thrust/power) of the cyclorotor. When compared to the flat-plate blades, the NACA 0010 blades produced the highest values of thrust at all blade pitching amplitudes. The NACA blades also produced higher power loading than the flat plate blades. However, the reverse NACA 0010 blades produced better power loadings at lower pitching amplitudes, even though at high pitch amplitudes, regular NACA blades performed better. Among the three NACA sections (NACA 0006, NACA 0010 and NACA 0015) tested on the cyclorotor, NACA 0015 had the highest power loading followed by NACA 0010 and then NACA 0006. The power loading also increased when using more blades with constant chord (increasing solidity); this observation was found over a wide range of blade pitching amplitudes. Asymmetric pitching with higher pitch angle at the top of the blade trajectory than at the bottom produced better power loading. The chordwise optimum pitching axis location was approximately 25–35% of the blade chord. For a constant solidity, the rotor with fewer number of blades produced higher thrust and the 2-bladed rotor had the best power loading. Any significant bending and torsional flexibility of the blades had a deleterious effect on performance. The optimized cyclorotor had slightly higher power loading when compared to a conventional micro-rotor when operated at the same disk loading. The optimum configuration based on all the tests was a 4-bladed rotor using 1.3 inch chord NACA 0015 blade section with an asymmetric pitching of 45 at top and 25 at bottom with the pitching axis at 25% chord. The aeroelastic analysis was performed using two approaches, one using a second-order non-linear beam FEM analysis for moderately flexible blades and second using a multibody based large-deformation analysis (especially applicable for extremely flexible blades) incorporating a geometrically exact beam model. An unsteady aerodynamic model is included in the analysis with two different inflow models, single streamtube and a double-multiple streamtube inflow model. For the cycloidal rotors using moderately flexible blades, the aeroelastic analysis was able to predict the average thrust with sufficient accuracy over a wide range of rotational speeds, pitching amplitudes and number of blades. However, for the extremely flexible blades, the thrust was underpredicted at higher rotational speeds and this may be because of the overprediction of blade deformations. The inclusion of the actual blade pitch kinematics and unsteady aerodynamics was found crucial in the accurate sideward force prediction. FUNDAMENTAL UNDERSTANDING OF THE CYCLOIDAL-ROTOR CONCEPT FOR MICRO AIR VEHICLE APPLICATIONS

Fundamental understanding of the cycloidal-rotor concept for micro air vehicle applications

In recent years, interest has been growing in a new class of very small flight vehicles called micro air vehicles (MAVs). Hover capability is highly desirable with respect to the mission requirements of these vehicles. Due to the small size of MAVs and the low Reynolds number regime in which they operate, scaling down conventional rotorcraft configurations to the MAV scale may not yield optimum performance. Unconventional vehicle configurations can be explored to realize high endurance hover capable MAVs. This paper investigates the hover performance of a small-scale cycloidal rotor to determine its viability for use in a micro air vehicle. A 6 inch diameter prototype rotor was constructed and tested to determine the effects of number of blades, blade pitch angle, and rotational speed on thrust output and power requirements. Pressure distribution was measured to obtain insight into the downwash and flow through the rotor. An analytical model, using a combination of vertical axis wind turbine theory and an indicial solution for the aerodynamic response was developed to predict rotor performance, and was validated with the experiments. The performance of the cycloidal rotor was compared to that of a conventional rotor of the same diameter in terms of power loading. Based on the analytical model and the experimental results, a conceptual design of an MAV utilizing cycloidal propulsion was developed. The conceptual cyclo-MAV utilizes two cycloidal rotors, providing thrust, propulsion, and control. Complete vehicle weight is envisaged to be 240 g, with two three-bladed rotors of six inches diameter.

Hover performance of a cycloidal rotor for a micro air vehicle

In this work, four key design parameters of cycloidal rotors, namely the airfoil section; the number of blades; the chord-to-radius ratio; and the pitching axis location, are addressed. The four parameters, which have a strong effect on the rotor aerodynamic efficiency are analyzed with an analytical model and a numerical approach. The numerical method is based on a finite-volume discretization of two-dimensional Unsteady Reynolds Averaged Navier-Stokes equations on a multiple sliding mesh, are proposed and validated against experimental data. A parametric analysis is then carried out considering a large-scale cyclogyro, suitable for payloads above 100 kg, in hovering conditions. Results demonstrate that the airfoil thickness significantly affects the rotor performance; such a result is partly in contrast with previous findings for small- and micro-scale configurations. Moreover, it will be shown that increasing the number of blades could result in a decrease of the rotor efficiency. The effect of chord-to-radius will demonstrate that values of around 0.5 result in higher efficiency. Finally it is found out that for these large systems, in contrast with micro-scale cyclogyros, the generated thrust increases as the pitching axis is located away from the leading edge, up to 35% of chord length. Further the shortcomings of using simplified analytical tools in the prediction of thrust and power in non-ideal flow conditions will be highlighted and discussed.

http://publications.lib.chalmers.se/records/fulltext/235793/local_235793.pdf

Parametric Analysis of a Large-Scale Cycloidal Rotor in Hovering Conditions

http://www.rexresearch.com/cyclogyro/MLMThesis.pdf

Michael Lynn McNabb

Papers

Development of a cycloidal propulsion computer model and comparison with experiment