CHAPTER 1.
AIRCRAFT MODELING
8 Flapping Dynamics
This section describe the derivation of flapping dynamics according to Chen (mettere
ref) The following assumptions are introduced:
1. Rotor blades are rigid with respect to bending and torsion
2. Balde twist, ✓tw , varies linearly along the radius
3. Both flapping and inflow angles are small
4. E↵ects of aircraft motion on blade flapping is limited to those related to angular
rates, angular accelerations, and linear accelerations
5. The reversed flow region is ignored and the compressibility and stall e↵ects are
neglected.
6. The inflow is considered as uniform and no inflow dynamics were used.
Because of these assumptions and simplifications, the results of the analysis were valid
only for a limited range of flight conditions. Nevertheless, a previous study (ref. 7)
has shownthat this type of analysis is valid for stability and control investigations of
the rotorcraft up to an advance ratio of approximately 0.3. The development of the
flapping equation is here presented
8.1 Flapping Equation
By using previous assumptions, the flapping equation is derived by setting to zero the
sum of all contributions to the moment about the flapping hinge:
Ma + MCF + MI + MCor + MR + MBA + MBL + Mw = 0 (1.33)
provided:
– Ma is the moment due to aerodynamic force acting on the blade
– MCF = ⌦2 (I cos + e M ) sin is the moment due to the centrifugal force
– MI = I ¨ is moment due to blade inertia
– MCor = 2 (I + e M )(p ⌦ cos q ⌦ sin )
– MR = k is the restraint moment
– MBA = I (ṗ sin + q̇ cos ) is the moment due to body angular acceleration
– MBL = M (ẇ q u + p v) is the moment due to body normal acceleration
– Mw = 1/2 mb g R is the weight moment of the blade about the flapping hinge
For the generic azimut angle , the moment of aerodynamic forces is given by:
Z R e
Ma = dFa r (1.34)
0
where
1
dFa = ⇢ (⌦R)2 CL↵ c̄ (ŪT2 ✓ + ŪT ŪP ) dr (1.35)
2
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Flapping Dynamics
and
UT
ŪT = = ✏ (1 cos ) + µ sin + x cos
⌦R
UP 0
ŪP = = cos µ sin cos (x e)
⌦R h⇣ p ⌘ ⇣p ⌘ i
q q
+x cos w + sin w sin sin w + cos w cos
⌦ ⌦ ⌦ ⌦
where
V cos ↵
µ=
⌦R
V sin ↵ vi
=
⌦R
and x = (e + r)/R, ✏ = e/R, and 0
= ˙ /⌦. Under the hypothesis of small and
neglecting terms ✏3 , ✏4 , . . . , one has:
Ma
=
⇢/2 CL↵ (⌦ R)2 R2
✓ ◆
1 ✏ 2 1 1 2
= + µ sin ✏ + µ sin ✏ µ sin + µ✏ sin (✓0 A1c cos B1c sin )
4 3 3 2 2
✓ ◆
1 ✏ 1 2 1 1
+ + µ sin ✏ + µ sin ✏ µ sin ✓tw
5 4 2 3 3 2
✓ ◆
1 ✏ 1 ✏2
+ + µ sin ✏+
3 2 2 2
⇢ ✓ ◆
1 ✏ 2 1 1 2
+ + µ sin ✏ + µ sin ✏ µ sin + µ✏ sin K1
4 3 3 2 2
✓ ◆
1 ✏ 1 ✏2
+ + µ sin ✏+ µ cos
3 2 2 2
✓ ◆
1 2 ✏2 1 2 ˙ /⌦
✏ + + µ sin ✏+✏
4 3 2 3
✓ ◆ ✓ ◆ h⇣ ⌘ ⇣p ⌘ i
1 ✏ 1 ✏ p q q
+ + µ sin cos w + sin w sin sin w sin w cos
4 3 3 2 ⌦ ⌦ ⌦ ⌦
Complete flapping equation is thus derived from Eq. 1.33:
¨+F˙ ˙ +F = FC
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CHAPTER 1. AIRCRAFT MODELING
where:
✓ ◆
⌦ 1 2 ✏2 1
F˙ = ✏+ +µ 2
✏ + ✏ sin
2 4 3 2 3
✓ ◆
K eM
F = + 1+ ⌦2
I I
⇢ ✓ ◆
⌦ 1 ✏ 2 µ ✏
+ +µ ✏ + sin ✏µ sin + µ sin sin K1
2 4 3 3 2 2
✓ ◆
1 ✏ 1 ✏2
+ +µ ✏+ sin µ cos
3 2 2 2
✓ ◆
eM
FC =2 1 + (p ⌦ cos 0 q ⌦ sin 0 ) + (ṗ sin 0 + q̇ cos 0 )
I
⇢ ✓
M Mw ⌦ 1 ✏ 2 1
(ẇ u q + p v) + + µ sin ✏ + µ sin
I I 2 4 3 3 2
◆
1
✏ µ sin + µ ✏2 sin (✓0 A1c cos B1c sin )
2
✓ ◆
1 ✏ 1 2 1 1
+ + µ sin ✏ + µ sin ✏ µ sin ✓tw
5 4 2 3 3 2
✓ ◆
1 ✏ 1 ✏2
+ + µ sin ✏+
3 2 2 2
✓ ◆
1 ✏
+ [(p ⌦ cos w + q ⌦ sin w ) sin (p ⌦ sin w q ⌦ sin w ) cos ]
2 4 2
✓ ◆
2
+ µ ✏ [(p ⌦ cos w + q ⌦ sin w ) (1 cos 2 ) (p ⌦ sin w q ⌦ sin w ) sin 2 ]
8 3
provided
⇢ CL↵ c̄ R4
=
I
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