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Foundations of Circulation Control Based Small-Scale Unmanned Aircraft: A Comprehensive Methodology from Concept to Design and Experimental Testing PDF

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Intelligent Systems, Control and Automation: Science and Engineering Konstantinos Kanistras Kimon P. Valavanis Matthew J. Rutherford Foundations of Circulation Control Based Small-Scale Unmanned Aircraft A Comprehensive Methodology from Concept to Design and Experimental Testing Intelligent Systems, Control and Automation: Science and Engineering Volume 91 Series editor Professor S.G. Tzafestas, National Technical University of Athens, Greece Editorial Advisory Board Professor P. Antsaklis, University of Notre Dame, IN, USA Professor P. Borne, Ecole Centrale de Lille, France Professor R. Carelli, Universidad Nacional de San Juan, Argentina Professor T. Fukuda, Nagoya University, Japan Professor N.R. Gans, The University of Texas at Dallas, Richardson, TX, USA Professor F. Harashima, University of Tokyo, Japan Professor P. Martinet, Ecole Centrale de Nantes, France Professor S. Monaco, University La Sapienza, Rome, Italy Professor R.R. Negenborn, Delft University of Technology, The Netherlands Professor A.M. Pascoal, Institute for Systems and Robotics, Lisbon, Portugal Professor G. Schmidt, Technical University of Munich, Germany Professor T.M. Sobh, University of Bridgeport, CT, USA Professor C. Tzafestas, National Technical University of Athens, Greece Professor K. Valavanis, University of Denver, Colorado, USA More information about this series at http://www.springer.com/series/6259 Konstantinos Kanistras Kimon P. Valavanis (cid:129) Matthew J. Rutherford Foundations of Circulation Control Based Small-Scale Unmanned Aircraft A Comprehensive Methodology from Concept to Design and Experimental Testing 123 Konstantinos Kanistras MatthewJ. Rutherford Department ofElectrical andComputer Department ofComputer Science, Engineering, D.F.Ritchie Schoolof D.F. Ritchie School EngineeringandComputer Science, ofEngineering andComputer Science, DUUnmannedSystems Research DUUnmannedSystems Research Institute Institute University of Denver University of Denver Denver,CO Denver,CO USA USA KimonP. Valavanis Department ofElectrical andComputer Engineering, D.F.Ritchie Schoolof EngineeringandComputer Science, DUUnmannedSystems Research Institute University of Denver Denver,CO USA ISSN 2213-8986 ISSN 2213-8994 (electronic) Intelligent Systems, Control andAutomation: Science andEngineering ISBN978-3-319-67851-1 ISBN978-3-319-67852-8 (eBook) https://doi.org/10.1007/978-3-319-67852-8 LibraryofCongressControlNumber:2017955259 ©SpringerInternationalPublishingAG2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland to my wife, Vasiliki, to my mother, Theoni, and, to my brothers, Chris and Nick Konstantinos Kanistras to my children, Stella and Panos, and, to Elissia and Dina Kimon P. Valavanis to my family Matthew J. Rutherford Preface Research and development in Unmanned Aerial Vehicles (UAVs) has witnessed unprecedented levels of growth during the last decade. Despite different points of view with respect to the specific definition—i.e., Unmanned Aircraft System (UAS), Remotely Piloted Aircraft System (RPAS), or the widely misused term drones—unmanned aviation applications now exceed by far the military and bat- tlefield domains, reaching and penetrating civilian and public domains like preci- sion agriculture, environmental monitoring, infrastructure monitoring and inspection, emergency response and management, law enforcement, cartography, andrealestate,tonamebutafewsuchapplications.Inaddition,majoremphasisis given to the orderly integration of unmanned aviation into the national airspace, albeit challenges and different approaches to the process from different stakehold- ers. It is true that organizations like the Federal Aviation Administration (FAA), International Civil Aviation Organization (ICAO), European Aviation Safety Agency (EASA), and even NATO are working towards establishing a common framework and roadmap to facilitate timely integration of all classes of unmanned aviationintothenationalairspacesystem.Ontheotherhand,far-fetchedideaslike PersonalAirVehicles(PAVs)havestartedtosurface,atleastconceptually,andthis allows for a whole new spectrum of aircraft designs, to say the least. This research monograph presents a comprehensive methodology to design and test experimentally a Circulation Control Unmanned Air Vehicle (UC2AV). The underlyingconceptandideaistoimplementCirculationControl(CC),whichisan active flow control method used to produce increased lift over the traditional sys- tems (flaps, slats, etc…) currently in use, to design fixed-wing aircraft exhibiting enhanced aerodynamic performance in terms of reduced runway for takeoff and landing, increased effective payload and delayed stall. CC blowing is effective enabling the wing to achieve high lift-to-drag ratios and high lift augmentation during takeoff, and wind tunnel results indicate that upper slot blowing using CC can be effective for lift enhancement even at low blowing rates. Design centersonbuilding andintegratingwith theaircraftfuselageacomplete circulation control system, composed of Coandă-based Circulation Control Wings (CCWs), an Air Supply Unit (ASU), and Air Delivery System (ADS), along with vii viii Preface thecorrespondinginstrumentationandcontrols.Thetestbedisasmall-scale,ClassI fixed-wing aircraft, which presents design challenges due to size, space, and pay- loadlimitations.Thediscussedmethodologygoesbeyondthecurrentstateoftheart by demonstrating feasibility of CC as applied to small-scale UAVs. 2-D and 3-D windtunneltestsatMachnumbersof0.03,withmomentumcoefficientsofblowing (Cl)rangingfrom0.0to0.3areconductedandthroughflighttesting,itisconfirmed thatCC,whenappliedtosmall-scaleUAVs,resultsinsignificantrunwayreduction up to 54%. The proposed methodology may be directly enhanced and used on commercial airliners and cargo planes. The research monograph is suitable for scientists and engineers and graduate students conducting research in the area of unmanned aviation. Prerequisite knowledge to read the book is fundamental knowledge of aerodynamics, while knowledge offeedback control systems and classical robotics will also help. Denver, CO, USA Konstantinos Kanistras Kimon P. Valavanis Matthew J. Rutherford Acknowledgements The authors would like to thank Michael Keables, former Interim Dean of the RitchieSchoolofEngineeringandComputerScience(RSECS),JBHolston,Dean, RSECS,andHalukOgmen,SeniorAssociateDean,RSECS,forfundinginpartthis research.Theirsupportandencouragementmadethisresearchmonographpossible. We also acknowledge the supportof G.S. Jones, NASA Langley Research Center, forhiscontinuousinterestinthisproject,interactionswithourgroup,feedbackand useful comments and suggestions. We extend our thanks to all the members, stu- dents, staff, and researchers of the DU Unmanned Systems Research Institute (DU2SRI). Last, but not least, we wish to thank wholeheartedly Ms. Nathalie Jacobs, Senior Editor (Engineering, Solid and Fluid Mechanics, Mechanical and Industrial Engineering, Computational Methods, Robotics and Control, Civil Engineering, Materials and Structures), Springer, for her professionalism, friend- liness, understanding, continuous and unconditional support and encouragement over the 20 years of collaboration with Springer. ix Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Background Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Introduction to the Problem. . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.4 Method of Approach. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.5 Outline of the Research Monograph. . . . . . . . . . . . . . . . . . . . . 5 2 Aircraft Performance and Design . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Design Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1.1 Wing Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1.2 Aircraft Tail Design . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.2 Remarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3 Fundamentals of Circulation Control . . . . . . . . . . . . . . . . . . . . . . . 13 3.1 Vorticity and Circulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1.1 Kevin’s and Helmholtz’s Vortex Theorems . . . . . . . . . 15 3.1.2 Finite Wing Theory . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2 Coand(cid:1)a Effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2.1 2-D Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2.2 Coand(cid:1)a Jet Circulation Control. . . . . . . . . . . . . . . . . . 17 3.3 Remarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 4 The History of Circulation Control. . . . . . . . . . . . . . . . . . . . . . . . . 19 4.1 Numerical Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 4.2 Experimental Work. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.2.1 CC on Full-Scale Aircraft. . . . . . . . . . . . . . . . . . . . . . 21 4.2.2 Circulation Control on Unmanned Aerial Vehicles . . . . 23 4.3 Remarks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 xi

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This book focuses on using and implementing Circulation Control (CC) - an active flow control method used to produce increased lift over the traditionally used systems, like flaps, slats, etc. - to design a new type of fixed-wing unmanned aircraft that are endowed with improved aerodynamic efficienc
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