2 : Improved Computational Procedure

for Determining Helicopter Rotor

3
Blade Nacural Modes

William H. Wellcr and Raymond E. Mineck

AUGUST 1978
relating the s t a t e vn?.torr a t adjacent rtationr, uero changed i n t h e new program
wraion and are s u b r t r n t i a t e d by t h e uork described i n reference 4.

The r t t r u l t i n g analyris i 8 eatten6ively d i f f e r e n t from t h e o r i y i n a l verrion

and h a r a - g n i t i c a n t improveaents i n program nixe, efficiency, and v w r a t l l l t y .
M e purpora of t h i o report is to diacu*o t h e e q u a t i o n 8 and t s c h n i y u e r U 8 d ,
d e r c r i k t h e f i n a l ptwram, and p r e s e n t a program s o u r c e l i r t i n p . The accuracy
of t h ~ program is dmonrtrated by c o r r e l a t i n g predicted r e a u ~ t swith exact r o l u -
tims for clarsical problems and with experimental data.

Values i n text a r e g i v e n in U.S. ~ u s t o l h p r yu n i t s and S'1 u n i t s . The calcu-

l a t i o n s were made i n U.S. Custnrary Unito. The caaputer program v a l u e s end
related roterial are g i v e n In U.S. e u u t o m r y Units. c'clnversion f a c t o r s for
t h e s e u n i t s i n t h e ccrnputer o u t p u t are g i v e n i n appendix A.

d i s t a n c e s alony A-, 8-, and C-axcs

blade s o c t i o n m i s t a n t , in6 (cat6!

h o r i z o n t a l f o r c e perpendicular t o %-&xis, lb (N)

Y o ~ n g ' sm d u l u s of e l a s t i c i t y , lb,'in2 (N:d)

b l a d e d t r u c t u r a l s t i f f n e s s in bcndinq, lb-in2 ( N - d )

centrifugal force, l b (N)

in-plane force due to c e n t r i f u y a l f o r m a c t i n g through a c e n t e r of

g r a v i t y hor i r o n t a l l y offset t r m p i t c h a x i s , lb ( N )

in-plane murnent due to c e n t r i f u g a l forcw a c t i n g t h t o i r y h d c c n t c r of

g r a v i t y h o t i z o n t a l l y o t l s c t frrvn p i t c h a x i s , i n - l b (N-m)

out-of-plane m w n t due to c e n t r i f u g a l firice ac*t ith) t h t k w y h a center

of g r a v i t y v e r t i c a l l y olfset ftkm 1)iti-h .%xis, in-ltr (N-m)

blade s ; t i i l c t u r a l s t i t t ' n r s s i n t o r s i o n , lb-in: (N-m2)

acceIt.rat i o n due t o g r a v i t y , in. ser-? (m. s;\.,*2)

segment second iiiass m w n t o t i n e r t i a r ~ l a t i v rti\ piti-h a x i s with

r o t a i y i n e r t i s e f t t v t s l f i ~ ~ l u d e d in-lb-:%i*t"
, (m-N-src2)

crws-seL*t i o m l sectwJ matis miuntwt rlt i r w t id r r l a t ive tt\ crntrl of

gi av i t y, 1ti-sec-z ( ~ - s t * t - - \ )

w m t w ut n m t t'dt h e t inq hiit\ st\jrnrnt :I

tllade p i t ~ ~t'i\ntr6\l
h s y s t e m st i t tntbss, i n - l b 1dr1 (N-nt ia,iI
X,Y,D,A,B,C txwrdinate axes (ree fig. 1)
RDY.8 dirtanccr along X-, Y-, and %-axes

i blade sryrnent lanyt-h, in. (n)

8 radtcal d i r t a n o to end of h a d e segment, in. (a)

r; elavt it* t\Canctirg rotat i ~ u r in v t r t ical (YZ) plane, rad

A dstwminant tre boundary contiit ion weff icitnt matt i x

3
4t * l a t i c dmflrction i n Miroction (#, f i g , 11, in. tm)

e elrrtic tbtlwtion i n ydirwtion (m f i g . in. (I)

0 geemetric pitnh angle betwen blrch principal rtructwal &ai8 and

hori8ont.l ( X t ) plam at a rrgwnt end, dog

6 grolA.tric pitch angle k t w n blade principal rtructwal & x i 8 and

hoti8Wtal (xa) plane at a regwnt rid-point, drg
8, r a t e of change of gecmetric pitch 601. with rprn at a reqmnt mid-
point, rawin. ( r r b h )

6C blade coot collective p i t c h angle, deg

9, bl& l i n e a r twiat, d q
x auxiliary function 4b88QChtd with 8

4 e l a r t i c torsional rotation in vrrrticrl (XY) plane, tad

J1 e l a r t i c bending rotation i n h e l r i r o n t r l (%a) plane, rad

c7 rotor angular valocity, radfsec

w blads natural frequency, r a d / u e (cpm in tablam)

Subscriptat
a.b,c rotating corrrdinata e y a t m fixed t u locrl a t r u c t u t a l axes a t each
rtrtim after dsformatign
\

ir'"rN) blade r t r t i o n number

o t N t 1

The metha1 of r n n l y a i a m n a i d n t s t h Q rotor blade as a discretired rryartam

of f i n i t e s l e m n t r w i t h each sl+ment rcaprsssnting a s q m n t of the hladQ. Thc
user-rjmcit i d input data p r t a i n r t o d i s c r c t i a s d s t i u c t r r r r I properties which
ate average valuacp over each a s y m n t . The d a t a & r e rcf@r@nc*d to t h e local acg-
m n t a x i s system and to either t h e rroywnt c c n t c r of g r a v i t y ( i n e r t i a l proper-
t i e s ) w pitch axis (elastic p r c y p r f i s t a ) . Sinoe the p i t c h a x i s is t h o r e f e r e n c e
axis i n t h o analysia, t h e inertial p r o p e r t i e 8 are tranlafsrred t o t h o p i t c h axis.
A l l propertien ace than t o t a t d into a hub-fiwsel axis system o r i e n t & SO t h a t
t h e wrtical a x i s it8 parallel with t h @ axis u Y r o t a t i o n . Details UT t h r data
w n w c r i m inre p r s e a n t e d i n appendix 8. Fiyurcr 1 i l l u s t r a t e s t h e l w n l s q m s n t -
fixed a x i s system (A,R,C) and the hub-t'ixcd a x i s system ( X , Y , Z ) w i t h s i g n cxnvcrn-
tiona. Tha j t k wgment is ahown i n figure 1 haviny a width fij and an inkward
r t r t i o n 83 a8 mearurd from t h e writer Or rotation, Figdrr 2 illurtrater t h e
aheat center and canter-of-gravity oLfrets f r a the pitch axis in t h e (A,B,C)
a d (Y,Y,t) rY8L-O and the COnVWbtiO#k8. The POOitiVe d i r w t i a S LOC f b ,
re, and rx are opporite to tha B-, 0 , and X-axe6, re8pectively.
The blade regmnts a r e converted to a finite-element reprerentation w i t h
a l l the inertia luped at the inboard end and a stiffnerr element extending over
the mguant length. By uring t h e rign ~mnventionifor t h e displsccrcnts, f o r m s ,
a d l a r s n t r thOtlCl in figure 3, using tbe frerbody diagram of figure 4, assum-
ing harmic motion, and requiring f a c e and r o l a n t equilibrium and continuity
of dirrplacementr rclroar t h e lraped masse8, the following recutaion equations
re8ult t

5
6
*.re the ca+ffbciants in there rquatlons are brfirwd i n appendix 8.

Equation8 (1) to (10) ate i n general r g r m m n t with the equatianr of tef-

(brence (41, which prerent8 I detailad &v,lop#ant of theao recurtion formulas.
There are two rignificant dilCfetecar, however, bet- the .quatien8 i n t h i r
r m t and the f i n a l equation8 of tefartncc, 4. me equations giwn i n this
rcrport art bard bn the r;t8Wpt~0#1 that CCo88-mctiOnal principal r t r u c t u r a l
8tiffmS8 and ma88 .&ea ate parallel. 2tteIICfot0, t h e term8 i n t h e equation8 of
reference 4 that arim by rrruming they are not parallel are witted In c 9 a -
tion8 (11 to ( f O ) . Sccandly, the term F j k 4 , j i n aquation ( 1 ) is wt retained
in reference 4.
Equation8 (1) t o (10) are used t o calculate dstlectiona, rrlopga, fozeea,
and nananta a t the inboard end of each segment twcauae of the conditions a t t h e
outboard end of that mqmnt. M e calculation prwoaa wins by assuming a
unity value fw one of t h e t i p displacemntu and i e r o for a l l others. The cor-
reaponding t i p forces and moments are not a l l mm because a lumped mas8 is
allowed a t that station ( t i p mass). Thus, f o r a u n i t y value of t h o t i p w t - o f -
plant slap, t h e forces and morncnts are calculated from r y u c t i o n s (6) to (10)
and yield

%+1 - 1

where 6 , M, and 0 reyrcser.t t h e out-of-plane s l q w and mmcnt and in-plane

mmt, rcsycctivclp, with s i g n cunvenrlons shown i n f i g u r e 7. A 1 1 o t h e r f a c e 8
and m r n t s et t h e t i p are z e r o . By s u c c p s s i v c l y npplyinq e q u a t i o n s ( 1 ) to ( 5 )
to determine de€llcctic\ne and slopes a t each inass e t a t i o n and e q u a t i o n s (a) t o
(10) to calculate t h e forces and m c m n t s acting at the c w t h w r d and of t h e next
inboard elastic element, t h e cwnditions a11 along t h e hladcr a r c d e t e r m i n d for
specified value8 o f cmilcctiw p i t c h awl@and blade twist, rotcw r o t a t i o n a l
speed, and t h e assumed trcquency of v i h r a t i o n . This prwadurc is r e p e a t e d f o r
the same vibratory frequency by i n d i v i d u a l l y assunin,; u n i t y v a l u e s f o r t h a o t h a i
t i p diwl-M*nts (+N+), bx,N+l , h + 1 , and \‘y,N+l) +

lb a n a l y s e Q p a r t i c u l a r r n t m bladc, I t is nccpsPsary to s p e c i f y t h e qw-

m e t r i c and 8 t r u c t u r a l p r o p e r t i e s r e l a t i t q t h a manner i n which the blade i s
muntcrcl t o t h e huh. The huh confiqurcrtion and support system in;\t.dancc c h a r a c -
tsristic8 a r e clxprcsscd aa f i v e boundary wnclit ion cquationr? i n terms t?f ttrc
displacement v a r i a b l e s , forces, and m c w n t s a t a pat t i r u l a i s t a t ion. 1‘0 sat i s f )
t h e prcscr itred I.rxindary w n d i t ion q u a t i n n with t h c ~ ~ v ~I odn si ~t - a \ c u l f i t e dalrvw
’

the blado by c y u a t i o n s ( 1 ) to (101, t h e unknawn (11 must t a k e kzn only select v.91-
7
u88a %tW8, the eigenvalue p~obleair f o r m where the vibratory frequency i r
B y 8 t ~ t i c a ~varied,
l~ and the condition8 along the blade are calculatd C o r
wch unity t i p displacc#rsct. Then data are then w e d to aee whether the bound-
a t y conditions are mtiafied.

In Ute analyais three basic seta of boundary condition equations are used
and the rarulting modal characterlatics are designated as pertaining to colhc-
tive, cyclic, oc rcirrorr type 1110668, depending upon which set of boundary condi-
tionr is irporcrd. The form of tho boundary conditions for each mode type is
rumaritad in tabla I and the different spring and m s s teras are shown in f i g -
ure 5. Reference 5 presents a discussion of the88 made types and how they are
cmbined to descr ib6 rotor mode characteristics.

The collective inode is characterlad by rsyaraetric vertical. or out-of-plane

and antiayrrncltric horizontal or in-plane deflections of opposing pairs of blades
on the rotor. The appropriate boundary conditions for the in-plane direction
are elements 2 and I of the first mlum of table I and pertain to a sprins-
restrained Kr pinned joint a t the center of rotation. The first and third
eleraants give the conditions far a clamped joint attached to a movable hub,
where the hub impedance is represented by a siwle-degree-of-freedom mass-spring
syrter. These chrrrcterirtica describe tbe boundary conditions for the aut-of-
plane dirsction. The first four conditions of the first column are applied at
the center-line station. The torsional equation relates the twist and torque at
the pitch horn radial attachment point. The term represents the effective
rpring ratt8 of the control system.

The cyclic d e s h a w symmetric in-plane and antisymmetric out-of-plane

deflection shapes about tht center of rotation. The boundary conditions for
the cyclic modes are qivan in the second column of table I. The first and third
elements of that column describe the flapping-spr inq-restrained Kt; pinned eon-
dftions in the out-of-plane direction. Elements 2 aed 4 are fox the in-plane
diiection where the representation is a cl.amped j o i n t fixed to a flexible hub
havinq lcmprd stiffness and mans charact. ristics described by Kig and Mip,
respectively. The torsional boundary condition is the same for t c cyclic and
collective modes.

For the scissors modes, the in-plane and out-of-plane boundary condi-
- - -
tions at the center line represent clamping of the blades t o an immovahle hub
(ey,] 6x 1 = E l \111 0). For a rotor having three or more blades, the tor-
aional canhitinn is the same as far the collective arid cyclic modes. For two-
bladed rotors, the torsional deflection is z e r o (clamped) at the pitch horn
attachment radial station. Those conditions are shown in the third ivlumn of
table I, Fbx the in-plane and out-of-plane directions, an alternate form of
the boundary conditions is used whenever it is desirshle t o represent o f f s e t
fldpping and lagging hlnqes ds in t h e case of an articulated r o t t j i , (Pee tht*
fourth m l u m n of table 1 . ) I f the offset of the flaypiry hinge is not z e r o ,
the zero slope wndition is r c p l n c w l by an tquat ion relating the out-ot-plane
mmnt and slope at thc hinqe s t ; t t i o n u s i n q a f l n y p i n q spriry t e t m 5;. Simi-
l a r l y , for an offset laclninq hinge, the sliyw c-cwdit ion is c-hanritd tt> A i i h d c l
of a spring-restrained K4, pinned joint at thr laggirw hinyt- r a d i a l station.

8
 'phr wlw8 OC c h f l w t i o n , 8lopr. #ra8nt. and 8hear calculated a t t h e 8ta-
tiom far which the boundary condition8 apply and due to a value of unity f o r
one oocrrdinrta a t t h e outboard t i p can be r u b s r t i t u t e d i n t o t?- left-hand aide
of the boundary condition equation8 for a particular W e type. These equation8
am then umd to f o r m one colun of the boundary condition coefficient matrix.
repratitq t h e r u b r t i t u t i o n O f Condition8 a 8 8 o c i a t d with Unity value8 .'-e
other t i p mordinrtea, t h e mmplete mefficient matrix i r generated. T I a.dt . .
teru rry k thought of a8 p a r t i a l derivatives of each boundary condit ,I swa-
tion with re8pct to an individual t i p ditpl-ent. As an example, t ~ : .a ?la&
having a pitch horn offret the coefficient matrix [ c ] for ths rciraorr mode
would be (see tabla I)r

Ccl - ae
-
%ip

where t h e subscript 1 refers to t h e station at t h e center of rotation. The

fom of the boundary condition coefficient matrix is dependent on t h e macle t y p e
to bo calculatcd. Because t h e boundary condition equctions G C C ho(ncqcne~~u6,the
following matrix equation can be form&d to determine t h e tip deflections for
each Mer

9
(141
an i n i t i a l t r i a l vector. r e r u l t i n g vector is usad as t h e new t r i a l vector
.nd ir again p r r u l t i p l i e d by the inwrm natrix. ?out iteratiom are performed,
mch rerulting vector b i n q normalized by the laryest elslrant. The f i n a l vector
oarreapon& to the relative t i p deflections for t h a t Aadcr. By using t h e s e val-
u.8 md the spnnwisc d i s t r i b u t i o n 8 of d e f l e c t i o n s , slopos, shears, and atanents
Lor each unit tip deflection, the mode shapea and associated s h e a r and rament
d i r t r i b u t i o n a are calculated. The displacerrentr, are l e f t i n t h e X,Y,E-axis
tyrtar. The hear8 and rwrants are resolved b a c k i n t o t h e locr.'. segment axis
myatema, however, by wing the t w i s t and collective p i t c h angles.

General Descripticm of Program

The analytical metho& have been implemented as a d i g i t a l c a a p u t e r pro-
g r u d a d i n MRTRAN IV language. The program is run on t h e Control Data
Corp. cy86R 175 carputat system a t t h e Langley Research C e n t e r , u s i n g a n FTN
corpiler and NOS 1.2 operating system. Ey comparing t h e new program w i t h t h e
cine de8cribed i n r e f e r e n c e 1, t h e l e n g t h s of the source decks are 1222 and 2398
mrdr, c o m p i l a t i o n times are 3.6 and 6 . 6 CPU ( C e n t r a l p r o c e s s i n g u n i t ) seconds,
and c a r p u l e r care requirements i n octal are 54000 and 112000, r e s p e c t i v e l y . A
case w i t h a 20-acgwnt r e p r e s e n t a t i o n was run or. b t h programs. The new
version required 15 CPU seconds for e x e c u t i o n and t h e old v e r s i o n r e q u i r e d '7
CPO rrconds. The new projram can c a l c u l a t e n a t u r a l f r e q u e n c i e s and utde s h a p e s
for up to 30 blade segments ( u s e r s p e c i f i e d i n t h e new program), aad up to 18
rotor speeds. All errors i n t h e original program known to t h e a u t h o r s have
bean corrected in this program.

The computer program c o n s i s t s of a main program, called BLDANL, and e i g h t

S u b r O U t h t s ( W L T D , C W , ClW, INPT, P m , STm, S W , and ?4ODScUPl. A
listing of t h e cunputer program is g i v e n i n appendix C. In - d d i t i o n , a l i b r a r y
r u b r o u t i n e , NATINV, is also r e q u i r e d and is documented i n appendix D. The pto-
gram also u s e s a C a l C a p p l o t t i n g p a c k a g e . A flow chart of t h e program is pre-
s e n t e d i n f i g u r e 7 . The v a r i o u s parts of the program are described i n subse-
q u e n t nstagraphs.

Program BLDANt

The! main program c o n t r o l s t h e a m p u t a t i o n o f t h e blade n a t u r a l f r e q u e n c i e s

f o r a l l ccarbinations of collective p i t c h , rotor s p e d , and mode type. BLDANL
i n i t i a l l y c a l l s r u b r o u t i n e INPT to read t h e i n p u t d a t a for each case and t h e n
c o n v e r t the i n p u t i n t o the d e s i r e d lunpd-mass r e p r e s e n t a t i o n . The e l a s t i c and
i n e r t i a l prclperties for each s t a t i o n a r e rotated front the local A,B,C-axis
rystaa to the h o t i r o n t a l - v e r t i c a l X,Y,Z-axis system. The program t h e n e-mputes
t h e forces due t o r o t a t i o n a t each s t a t i o n for each v a l u e of r o t o r speed.

The c a l c u l a t e d c h a r a c t e r i s t i c s i n t h e X , Y , Z - ? x i s system are i n p u t t o

rrubroutine COW which then returnr. t h e determinant of t h e k u n d a r y m e f f i c i e n t
matrix (eq. ( 1 2 ) ) fcx each desired e s t i m a t e of t h e n a t u r a l frequency. I n prac-
t i c e , t h e v a l u e s et: t h e determinant a r e used to e x t r a p o l a t e toward t h e p i i n t
11
 After 411 desired nrtual fr.qmncirs hwe been determined, the a r ~ c i a t e d
.odr rhrp4. my k ealculstenl. A trll to rcbroutine AIIpL'ID C~UIIII the .od.
shapes to he calculated, printed out, plotted, oc punched &pending on t h e i n p u t
options selected, Subroutine Su+LT ir thm called to print aut a @GUY of a l l
calculated natural fim~i-. Also, i f requested, 8ubrautine Pfatrp is called
to plot the n a t u r a l f r e q m i e a as a f u n c t i o n of rota: r o t a t i o n a l speed fa each
collective p i t c h angle and mde type. lh pcagrru then proceeds to t h e next
input case.

Subroutine AplpLlp

Subroutine m L SD is called by BtDANL to cuvpute the rock s h a p e s far: t h e

p r e v i o u s l y determined n a t u r a l frequencies. Subroutine a)EBr is f i r s t called to
calculate the matrix of t h e roet-boundary condittons f o r i n d i v i d u a l u n i t t i p
displ-ts a t the c a l c u l a t e d natural frequency. The matrix is i n v e r t e d by
using the l i b r a r y s u b r o u t i n e C U T W and an i n v e r s e m r t r i x iteration scheme is
wed to c a l c u l a t e the valuce of the d e f l e c t i o n s and slopcs a t t h e tip. Rdll
the transformation term c a p u t e d i n subroutine (?om, t h e d e f l e c t i o n s , slopes,
m t s , and shears a t each s t a t i o n are c a l c u l a t e d and listed. ThC part of t h e
q r n e r a l i t e d mass a s s o c i a t e d with each d e f l e c t i o n at r o t a t i o n c m - ment is c a l c u -
l a t e d and used to dcterrine t h e principal d e f l e c t i o n d i r e c t i o n ( L b a t having t h e
l a r g e s t g e n e r a l i z e d mass): vertical, h o r i z o n t a l , or torsion. The twmbec of
node p o i n t s of t h e axle shape i n t h e p r i n c i p a l d i r e c t i o n is then deterlained.

I f requested, the mode shapes may be plotted or punched o u t through c a l l s

to M ) D S W or CARDS. T'he g e n e r a l i z e d mas6 colrponents are also p r i n t e d . F i n a l l y ,
a check of convergence f o r both n a t u r a l frequency and mode shape is made by
matrix m u l t i p l i c a t i o n of the boundary c o n d i t i o n m a t r i x and t h e m a t r i x of t i p
d e f l e c t i o n s and slopes. The reculting matrix, which should be a n u l l matrix,
is p r i n t e d o u t f o r each listed mde shape.

Subroutine CARDS

The s u b r o u t i n e CARDS is t h e o n l y s u b r o u t i n e which produces punched o u t p u t

for u s e as input d a t a i n t h e f l i g h t s i m u l a t i o n program of r e f e r e n c e s 2 and 3.
I t is divided i n t o t h r e e parts - t h e f i r s t punches t h e input i n e r t i a d a t a , t h e
second punches t h e caaponents of t h e mode shape, and t h e t h i r d punches t h e
c y c l i c detuning c a r d s which are used tr s p e c i f y v a r i a t i o n s of n a t u r a l frequency
with c o l l e c t i v e p i t c h and r o t m speed. The f i r s t p a r t , called by s u b r o u t i n e
STARP, takes blade mass and i n e r t i a d a t a which a r e divided i n t o an a r h i t r a r y
number a€ segments and r e c a s t s i t i n t o 20 equal l e n g t h segments. The second
p a r t , c a l l e d ty the s u b r o u t i n e AMPLTD, takes t h e mocle shape d a t a and r e c a s t s
i t i n t o 20 equal sclqmects as well. The f i r s t six n a t u r a l f r e q u e n c i e s for each
combination of r o t o r c o l l e c t i v e p i t c h , r o t o r r o t a t i o n a l speed, and mode type

12
 Subroutine m)Ds;lup

The p c o q r u read8 the i n p u t from f i l e 5. me format for t h e i n p u t dst8

deck is spcsclfiad i n tablo X I and a sample deck l i m t i n g is p r o v i d e d i n table XIX.
The p t o g r u input and a u t p u t aota are eyprcssed i n U.S. Custorory Units. Conver-
sion f a c t o r s far o b t a i n i n g SI Units are g i v e n i n appendix A. * n table X I t h e
FCogrW name8 arc g i v e n w i t h the symbols uscd i n this report shawn p a r e n t h e t i -
c a l l y , where a p p r o p r i a t e . A data deck conaisis of c a r d t y p e s 1 to 18. Multiple
case1 can be run by p l a c i n g the data decks one behind t h e other w i t h no sepata-
torn. F a n ~ l t i p l e - c a s cruns, t h e n a m e l i s t format o p t i o n c a n be used for a l l
Cat388 a%Capt the f i r s t . The v a r i o u s i n p u t s a r e described i n t h e f o l l o w i n g
p.\ragrPphr.

I n t a b l e 11, t h e f i r s t card s p e c i f i e s t h e p r q r a r o p t i o n 8 v i a d e a c r i p t i v e
nams which my be i n p u t in any order. The allowed names a r e DECK, NAKElist,
PU3Ch, m e , IrffY)Es, A W ~ W a a , PtoT, TWIsion, and NLlWist. Only t h e f i r s t f o u r
c h a r a c t e r 8 o* each n a n are r e q u i r e d . DECK i n s t r u c t s t h e program to r e a a a new
case i n p u t deck. M a NAMGlist o p t i o n allows t h e user to read i n o n l y t h e changes
to t h e p r e v i o u s cam by u s i n g a n a m e l i s t format, PUNCh is used t o g e n e r a t e
punched c a r d s s u i t a b l e for i n p u t i n t o t h e cmputer program of r e f e r e n c e s 2 and
3. The SHAPe option c a u s e 8 t h e program to g e n e r a t e CalCcmp plots of t h e blade
mode shapes f o r t h e case with t h e r e f e r e n c e v a l u e s of r o t o r speed and c o l l e c t i v e
p i t c h angle. The W E e input r e s u l t s i n p r i n t o u t s of t h e mode shape data pro-
vided by SMPe. AI,I..Modas i s u m d when mode shape p r i n t o u t s f o r a l l c o s b i n a t i o n s
of r o t o i sped and c o l l e c t i v e p i t c h angle a r e d e s i r e d . The PLOT o p t i o n qener-
a t e r CalCornp p l o t s of t h e v a r i a t i o n of blade n a t u r a l f r e q u e n c i e s as a f u n c t i o n
of r o t o r a p e d fm each collective p i t c h angle. TORSion c a u s e s t h e t o r s i o n a l
degree of freedam to he included i n t h e a n a l y s i s . The N L T U i s t o p t i o n i n s t r u c t s
metric, md rtructwal data t h a t uere i n g u t and a s r a r a r y tab1.e of a l l orlcu-
lated nrtural frequencie8. Suplei of them output8, obtained f r a the h p t
data liited i n table 111, are pre8ented i n table8 1V and V.
The i n p u t data l i 8 t include8 geemetric and r r t r u c t u r a l para~eterai n t h e
same u n i t s a8 o r i g i n a l l y read in, as well as 8 e g w n t l e n g t h 8 and valucer of blade
t w i 8 t and c e n t r i f u g a l force a t each station. The total blade ma1161 and f l a p p i n g
inertia u e calculated by c a n s i d e r i n g a n l y t h e blade ma81 o u t b o r r d of any flap-
ping h i n g e and are listed. The hub and c o n t r o l system inpadance parameters itre
also reproduced on the listing. The calculated natural f r e q u e n c i e s are 8-a-
rited f a each appropriate mode type ( t h a t is, collective, c y c l i c , and/or =is-
rrars) end at each m e b i n a t i o n of root collective p i t c h a n g l e and rotor speed.
ThC valuB of n a t u r a l frequency are nondiarensionaliaed by rotor speed prior to
being o u t p u t a t h e y are presented i n units of cycles per minute f a t n o n r o t a t -
ing cases. Few each frequency listed, t h e plane c o n t a i n i n g t h e l a r g e s t c o n t r i -
b u t i o n to the total g e n e r a l i r e d 1~48sof t h a t mode is i d e n t i f i e d and t h e number
of node p o i n t s i n the mode shape carpMIent associated with t h a t plane are
listed.

I f e i t h e r t h e WXMb or U o d e s o p t i o n s is selected, spanwise d i s t r i b u t i o n s

o f the rode s h a p s , moments, and shear f o r c e s a t each s t a t i o n are p r i n t e d o u t a8
shown in table VI. When t h e U o d e s o p t i o n is e x e r c i s e d , t h e s e d a t a are listad
for a l l c a r b i n a t i o n s of appropriate mode type, root collective p i t c h angle, and
rotat speed. For t h e n a l l k p o p t i o n , d a t a are p r i n t e d f a t each mode type, b u t f o r
o n l y one r e f e r e n c e colabination of collective p i t c h and rotor speed. The r e f e r -
ence mllcctive p i t c h angle is t h e l a s t v a l u e i n p u t i f o n l y one oc two i n p u t
values a . e specified. I f t h r e e or more collective p i t c h a n g l e s are r e q u e s t e d ,
the r e f e r e n c e Value is t h e next to l a s t v a l u e input. The r e f e r e n c e rotor speed
is determined i n a similar fashion. The v a l u e s i n t h e mode shape columns corre-
spond to d e f l e c t i o n s i n t.he vertical and h o r i z o n t a l planes. HOYev@r, the asso-
ciated f a c e s and moments are calculated i n t h e local beam and chord axis system
and r e f l e c t blade b u i l t - i n t w i s t and collective p i t c h angles. When TORSion is
i n p u t on card type 1, t h e t o r s i o n a l r o t a t i o n s and laaaents for each mode ale also
listed. The displacements, maaents, and s h e a r s a r e normalized so t h a t t h e maxi-
raun defl c i i o n along t h e b l a d e i n e i t h e r t h e vertical or h o r i z o n t a l p l a n e is
1 in. (2.54 cm) or t h e maximum t o r s i o n a l r o t a t i o n is 1 radian. After t h e span-
wise mode shape listings, the parts of t h e t o t a l g e n e r a l i z e d mass a t t r i b u t e d to
each d e f l e c t i o n plane, v e r t i c a l , h o r i z o n t a l , or t o r s i o n , a r e p r i n t e d . F i n a l l y ,
E\ check is made to see whether t h e boundary c o n d i t i o n s a r e adequately s a t i s f i e d
and tb c a l c u l a t e d boundary c o n d i t i o n values a r e p r i n t e d . (See previous d i s c u s -
sion concerned w i t h imposing boundary c o n d i t i o n s . ) B o t h t h e g e n e r a l i z e d masses
and boundary c m d i t i a n v a l u e s reflect t h e normalization p r o c e s s a p p l i e d to t h e
m>de shar’s.

C . . of t h e SHAPe o p t i o n c a u s e s CalCmp plots of t h e spanwise d i s t r i b u t i o n

of +: d e shapes to be generated. A sample p l o t is shown i n figure 8. One
}>Tot is made f o r each c a l c u l a t e d frequency f o r a l l t h e mode t y p e s but only for
?he one combination of r e f e r e n c e c o l l e c t i v e p i t c h and r o t o r speed. The d i f f e r -
e n t displacements, v e r t i c a l , h o r i z o n t a l , or t o r s i o n , a r e p l o t t e d i n d i v i d u a l l y
ilnd r e f l e c t t h e normalization p r o c e s s a p p l i e d to t h e l i s t e d d a t a (maximum d c f l w -
-,ions of 1 i r , (2.54 cm) ot 1 r a d i a n ) . The a b s c i s s a r e p r e s e n t s t h e spanwise s t a -
t i o n s for ‘:he d e f l e c t i o n values normalized by t h e r o t o r r a d i u s . Far i d c n t i f t c n -

16
tiom puqa8ur the rodr typr md nrtutal frequency for each plot are given above
tb figur+.

Uhen t h e PuWch option is wed, punched cards are p n e r a t e d by t h e program

c m p c r t l b l e with t h e input r e q u i r a r e n t r of the r o t o r c r a f t 8 l i r u l a t i o n ccmputer
praqrw dacumted i n references 2 and 3. The format for t h e punched deck is
Hrrn in t8ble V I 1 and a 8cl.lpIe o u t p u t deck is lirted i n table V I I I . The
pundrcrd output coniist6 of four pnrtst a paoblem i d e n t i f i c a t i o n c a r d , card.
c o n t a i n i n g the blade inertia c h a r a c t e r i r t i c r , t h e modit rhape8 f o r the six low-
*8t fr.puancie8 a8rociatd w i t h each mode type and cyclic d e t u n i n g i n f o r a a t i o n .
W h e n the P U K h option i 8 wed, t h c e e value8 e a c h of collectivlr p i t c h and rotor
rprd rrvt ha input, the 8;.cond v a l u r s being the amrags of the law and high
input qurntiticcr.

A l t h o u g h t h e propran h88 the c a p a b i l i t y of t r e a t i n g up to 30 segments of

urwqwl l e n g t h , t h e ri~ulatiocrprogrr of refarencas 2 and 3 requires data for
only 20 8hgMntr of aqua1 length. Therefore, the i n p u t rotor inurtia c h a r a c t t r -
irticr are converted by U t h g l i n e a t i n t e r p o l a t i o n . The r c r c n t s of i n e r t i a i n
both bur and chord direction8 are also changed to r e f l e c t a t r a n s f e r from t h e
conter d g r r v i t y to the f e a t h e r i n g axis prior to being punched out. Each set
o f i n e r t i a properties i r punched o u t i n successive field6 on t h r e e cards. The
c a l c u l a t e d W e 8haper for the r e f e r e n c e v a l u e s of rotor speed and collectim
p i t c h have a180 been i n t e r p o l a t e d to y i e l d v a l u e s f o r a system with 20 segments
of equal length. The u n i t 6 of t h e mode shape ccaponents are changed to f e e t for
t h e vertical and h o r i z o n t a l d e f l e c t i o n 8 and degrees f o r t h e t o r s i o n a l a a p l i t u d e s .
For each of t h e f i r r t collective, cyclic, and scissor nodes (up to six each),
11 c a r d s are output. The f i r s t 10 card8 d e f i n e t h e t h r e e mode shape components
&, b y , and 4) f o r a d j a c e n t s t a t i o n pairs s t a r t i n g a t t h e c e n t e r of r o t a t i o n .
The t i p d i s p l a c e r e n t s arc punched i n t h e f i r s t t h r e e fields of t h e 1 1 t h c a r d
with t h e next t h r e e field8 c o n t a i n i n g t h e n a t u r a l frequency, normalired by the
rotor speed, stode type d e s i g n a t i o n , and an a s s m e d modal damping r a t i o of 0.02.
I d e n t i f i c a t i o n d a t a a r e punched i n t h e r e n a i n i n g f i e l d s of a l l mode shapes c a r d s
for ( ~ 8 eof handling. The stode type d e s i g n a t i o n s arc 1 (collective), -1 ( c y c l i c ) ,
and 0 ( 8 C i S B o t 8 ) .

One cyclic detuning c a r d 18 generated f o r each punched mode shape. The

purpose of the c y c l i c dctuning c a r d i b t o s p e c i f y the v a r i a t i o n of mode fre-
quency w i t h r o t o r speed and wllective p i t c h angle. The f i r s t four f i e l d s of
each cyclic detuning c a r d list t h e normalired frequency a? a p a r t i c u l a r mode
f o r c o n d i t i o n 8 of l a s e a t v a l r n s of rotor speed and p i t c h a r y l e , lowest r o t o r
speed and h i g h e s t p i t c h angle, h i g h e s t r o t o r speed and law p l t c h a n g l e and,
f i n a l l y , t h e h i g h e s t v a l u e s of p i t c h a n g l e ar;d rotor speed. The r e f e r e n c e val-

17
uea of rotor tpwd and pitch arqle are alro punch& on each c y c l i c &tuning
card, u w a l l aa the c a m nam, rdk number, and typr indicatot.

Tbr .ccUtrCy Of thr a M 4 S i S i 8 wtithd thtOU@ r o t r O h t $ U i Of m t h d

rerultr for wlected pcoblarr, having either clowb-for. solutions oc rccutate
molutionr availrble in the l i t e r a t u r e . The correlation is b a d on corprrironr
of natur8l freqWtCies 8nd rode shape characteristicrr. 14re first. cam conrid-
ered is that of a nonrotating, uncoupled, uniform &em with pure bending in one
plane md torsion a U W . haa-€5- and e l m - f r e e ronditione are examined
and t h ~ lcmm5t f i v e #de8 i n each direction and for each sat of boundary con-
ditionr u e determined. ?he ClCrcMd cam exprnda on the f i r r t by adding a t i p
-88 h a manner which a f f e c t s the bendi- vibrations only. The third c8m is
for a s i r p l y crupportad, nonrotatinq beam having uncoupled torsion and one bend-
ing degree of frrcrdar. Tha fourth case add8 e l a s t i c coupling between the bend-
ing and torsion vibrations for the simply supported beam. The f i f t h correlation
ca9c deals with a rotating propeller for: which experimntal data were available.
Unfortunstely, suitable data pertaining t o helicopter rotor could not be found
by the authors. The analytical r ~ p r t s t n t r t i m nfor tach of theat case8 ate sum-
narited i n table8 I X and X.

Case 1 - mrotating Uncwpled Uniform €beam

The program input data for the nonrotating, uncaupled, uniform b a a in

bending and t o t a i m a r e presented as case number 1 i n table I X . Although the
exact solution does not include the effects of rotary i n e r t i a , the computer pro-
gram does. Therefore, negative values of the tsectional mass acnent of i n e r t i a
(determined by eq. ( B l ) ) are input to the prograa 80 that the net segment rotary
i n e r t i a effects i n the program are eliminated. Ccxipariaons of c a a p u t e d and
exact results (refs. 8 and 9 ) for the f i r s t case are tabulated fn table8 X I to
XIV. The d i f f e r e m e s between the corputed and exact natural frequencies for
both sets of boundary conditions a r e always less than 0.8 and 1 . 7 percent for
bending and torsion, respectively. The discrepancies increase! w i t h lrode nurbcr
and the caPputed frequencies are always smaller. The trends of bending ude
shape correlation ate similar to those for natural frequency. The caaputed and
exact torsion W e shapes match for a l l nodes and both sets of boundary
cond it ions.

Case 2 - Nonrotatfng Uncoupled Uniform Beam With T i p Mass

Tabla XV i l l u s t r a t e s the effect of adding a t i p mass on t h e clamped-free

bending frequencies. The analytical model is shown in table I X as case num-
ber two. The torsion frequencies are unchanged fran t h e values indicated i n
table XIV. The calculated bending frequencies vary by up to 1.5 percent rela-
t i v e to the values obtained fran reference 10 (for the f i r s t vertical bending
node). m e trend of increasing discrepancy w i t h d e order observed for the
previous examples is not present i n t h i s case. I n fact, t h e smallest difference
 -&rat bonding-komion vibcatianr ate enrlyt.6 i n retor*rm, 11, &err ~QM-
tDanr are given fw oalculrting exwt natural f r v n c i e r and uod. rhqp.0. Tho
-10 prablu in that d a uniform, r 4 l y arr#rartod @ittnod-pinmd v e r t i c a l
kodfng a d clam@-clrSrpd torrion) ku w i t h a horirontal o f f a e t batwen tho
cmtw of Qrwity and &ear contee we8 to induce c l i n g . % e n bound.ry am-
b i t ionr emnot be rrchievrd a t the outborrd t i p by the a r r l y r i r d o c w n t d i n
tkir rapoct without r l i g h t modifications, Th. r.puir.4 changer to the carputer
pmqru includr roplacamnt of the cob. g.notating the unity valuer of v o r t i c a l
MQ tz~l8i-l d r f h c t i o n r and a 1 term prtaining to .heare and momenta a t the
outboatd t i p , cod. ropreoenting unity valuer of the v*rtical ohwr and torsional
# u n t are then rubrtitutad i n t o tho program. Thew chanqer wore rrd, and the
emlytical t.prc*#ntation, given aa cama 3 and 4 i n table I X , u8ed for correla-
tion purpomr. T a b l a XVI and W l I p r e r m t carypllrilonr for calculated and exact
t8wltr with and w i t h a a t tho coupling added. Without the caupling t h e l u g e a t
bi8c?r:cpancier i n fr.quclncy aro le88 than 0.02 and 1.7 percont tor tho highert
knding and t o r i i o n IDder, r e r p c t i v e l y , thus verifying the reprc~aontatim. For
the roueplod problem (tab10 XWI) tho d i f f o r e m r b o t m n - u t d and oxact fre-
quencios aro always l e r c than 0.7 porcent w i t h t h difference
~ genorally incroas-
i r q with nodr ardor. Th. r e l a t i v e knding-torsion amplitudes for tho rod. rhaper
rhcnr goad agreeuiont k t m o n m u t e d and exact results.

Cam 5 - Node1 Propeller

Experimental vibration data, pertaining to model propeller blades, a r e
given i n reforence 12 and were used i n reference 13 f a r correlation w i t h the
analyri8 prerented i n t h a t report. The s t r u c t u r a l Ch8taCteri8tiCr presentt-: i n
tho00 two references were used to obtain the representation shown i n table X by
interpolating t o intermediate rtationr. The e f f e c t i v e torrional stiffness which
war u8.d included both t h e narrinal value of GJ and t h e contribution of another
term dependent on UIe aquare of the t w i s t r a t e a8 shown i n table X. The second
term is included i n t h e tOr8iOnal equation of motion i n reference 13 b u t not i n
the equation8 given i n t h h report (necessitating it8 inclurion w i t h the OJ
valuor). The e f f e c t of t h i s term i8 to increase a l l frequencies a l i k e w i t h o u t
regard to the values of collective pitch or rotor s p e d . I t a aniasion i n t h e
preaent equations i a b n s d on its insignificance for t h e t w i s t . r a t e s used on
.
convent iona 1 r o t or des igna
Gxperimental and calculated variations of natural frequency w i t h collective
pitch angle and rctor rotational speed a t e i l l u s t r a t e d i n figure 10 far t h e
f i r r t and second bending and the f i r s t torsion natural frequencies. Excellent
agrecmnt between experimental and calculated r e s u l t s a t e achieved for t h e two
boding frequencies. (See f i g s . lO(a) and l O ( b ) . ) A discrepancy e x i d t s between
calculated and masured variations of torsional frequency w i t h collective p i t c h ,
aa shown i n figure lO(c). As diaeussed i n reference 13, the angle between local
r t r u c t u t a l axes on the blade and the plane oE rotation 1s a function of b u i l t - i n
19
 #e rerulting prrag~cuill: d0Currpnt.d by prerrnting in thie roport the oque-
tionr and twhniqure ttx dotetrining natural &.qurncier and node shaper, input
data r q u k w r n t r . , and desctiptiona of tho variouo program outputr. A 8mrce
lirting M #a wagram ir alro pcewntrd. Th. accuracy nf the program is indi-
eat& by conprrinq ccuptwl terultr with exact lalutians and s x p o r i w n t a l data.
Far unifem, Mwurototing M u p r ~ b ~ ~~t su ,c a lfreguoncy prsdictionr are within
2 pmcant ~ l exact
! s o l u t i o n s Zcx the firrt f i v e b( ding and torrisn W e 8 and
top (L varioty O f boundary cu#lditionr. The ptsd4ctQd ncdr .haper closely match
exact rrnneri. t&perilaenta1,data raaorwed on a rotating, highly twisted propel-
lor WPCI al.o, us& fw carrelation. M e calculated bndinq frequencies a h 0 4
eweellant ylreemnt with m a a u r d data.

2Q
 Th. input a d output data rrrociated w i t h the corputer pcqrun are
.wptnlred i n u.8, Curtamrry tmitr. Connrrion factor8 fat obtaining data
tn 81 ~ n i t rare glwn in khe following table brad on reference 1 4 t

...........
I

hDcMt, Waight

Fl’equrncy. ............
mqth ..............
Linear spring. ..........
CIonant .............. in-lb 0.11 298

Rotational a p e d . . . . . . . . .

RotrtiOM1 8pring b b 0 0 e b b

SCIcOnd M68 writ O f inertia

Structural rtiffnear
--
b

I*il
b

-.CI
. .
-----.l_-. ---
Wultiply valuer given i n & S b C U I ~ O ~ R I C Yh i t by convetsion factor to
obtain equivalent value i n SI Unit.

21
 Po drtenrirn tk. natwrl fteqaecie8 and mode 8h-s irwciatcrd w i t h a
tube b l a h , the Urd. ir rrgnntod, and aver- valuer of the rtructutal propl
0rti.r af each Oi the 1s #gJwmt8 are determined. Thms p r o p r t i n are mroci-
rted wlth the nirpoint ol! each m n t by the p m g c u and the c r ~ a ; - ~ r r c t i o n r l
llgond R U 8 M n t S Of hWtir 8 f O rQ1ak.d to the 6UCtiM 111.8 mntroid.
IZC+ 1 illurtrater the local A,$& m n t - f i x e d ami8 ayrtem urb o v e r a l l & Y e t -
a x i r s y a t m with rim conwntionr. Fhe reference axis i s the wdeforrcrd t
pitch . x i 8 of the blade. Tim j t h Mgrnant is 8hown i n figure 1 having a width
‘1 and an inboard s t a t i o n 8 j a8 meamred f r a the center of rotation.
The mer rarenp of i n e r t i a of the segment c10.i s e c t i o n for tho baa and
Chord direction8 I& and I& ate transfartad to the reference (blade
pitch) arir and the rotary i n e r t i a for the segment is added. The polar moment
OL inertia is a180 determined by the program. The r r l a t i m r h i p s are;

(i - 1, Z 8 . b .# N) (82)

where w i is the weight p e r unit length for the ith segment. The terms rb,i
and ‘ C # iare the center-of-gravity offsets from the reference axis and the
apign wnvsntion for these terms is g i v e n in f i g u r e 2 ( a ) .

Because the analysis represents each segment as LL weightless stiffness ele-

ment with the inertial proprties 1 m p d at its inboard end, the inertias for

22
:;luatian ( 8 5 ) represents the lumped mass mj a t the j t h station. For the end
stations including the t i p w i g h t U

(B?2 a )

23
 - %gNtboN
29
t
Wb,N+l
9
(E1 3b)

(914a)

(El 4b)

(B: 6h)

24
 (31 7a)

(E17b)

(Bl ea)

Bpuationa (851 to (Bldbl apply to t h e local axis system a t each station.

Because the equations of motion are written tot the horirontal-vertical or x,Y-
axas, the blade inertial pzcprticts m u s t be rotated i n t o the l a t t e r system using
the pitch angle at each station defined ftm the twist 8, and c o l l e c t i v e pitch
angle Be.

ej = o Cj - 1, 2, .. *, JHUB) (€519a)

where JHUB is an input quantity representing t h e number of nonfeathering hub

aegarents. For g w e r a l t w i s t distributions, input values of twist are used, and
the collective pitch angle i s added to those values. The inexti& representation
i n the X,Y,Z-axis system is given by the following relationships:

25
 (j - 1, 2, . ., st+))
0

where the l a s t term pertains to the su-called -tennis racquet. effect i n the
equation for torsional maent.
The elastic proprties are rotated i n t c the X,Y,Z-axis system, using the
total pitch angle -t the m i m i n t of each segment o b t a i n e d fram averaging the
walues of pitch at tbe segment endpoints, The shear center (elastic axis) off-
S ' ' S f r a the reference axis (see fig. 2(b)) are found by

The structoral stiffness representation in the X,Y,Z-axis system is

( f = 1, 2, . . ., N)

26
 -1% 8

T!te tOrSiOna1 8 t i f f m s S S (GJ)i is unchanged.

M each station the centrifugal f o r a and associated rmantej created by
the offset of the center of gravity from the reference axis are calculated by
using tbe forrulu

k- j+l

k-jtl

where is the rotor rotational speed and Zk is the radial distance to each
Statim (fig. 1)

e1 - 0.0 (D36a)
 AePmmIX c

1
2
3
6
5
b
7
8
9
10
11
12
13
16
15
1b
17
18
BLDA 19
BLDA LO
BLOA 21
BLDA 22
BLOA 23
BLOA 22
BLOA 25
9LOA 2e
9LOA 21
10 BLOA 28
ELDA 29
RLOA 30
BLOA 31
BLOA 32
BLDA 33
20 BCOA 35
9LOA 35
9LPA 31
BLCA 37
BLOA 39
BL3A 39
BLOA 40
30 @GOA 21
9LOA 22
BLDA 23

BLOA 22
BLOA $5
BLDA C6
8LOA 27
BLOA 49
BLDA 29
BLDA 50
FlLOA 3:
BLDA 52
25 8LDA 53
BLDA 52
BLDA 55
ORIL‘LNALPAGE c6 BLOA 56
OF POOR QUALITY BLDA
9LOA
S?
58
BLDA 59

28
BLDA 63
BlDA b+
@LOA 65
BLOA Cb
CLDA 67
BLDA bB
BLOA 69
BLDA 70
BLOA 71
BCDA 72
BLDA 73
BLOA 74
5LDA 75
BLDA 76
BLDA 77
BLDA 78
OLD1 79
BLOA BO
0104 81
OLOA 87
BL04 05
BLOA 84
BLDA d5
BLDA 86
lLOA 87
BLDA 68
BLOA 09
BLOA 90
OLD1 91
BLDA 92
OLOA 93
ai04 94
@LOA 95
BLOA 96
SLOA 97
BLD, 9d
BLOA 99
DLOA 100
BLDA 101
BLDA 102
BLOA 103
B L D A 104
B L O A 105
0101 101
B L D A 107
BLOA 109

@ L O A 110
0 1 0 1 111
B L O A 112
B L O A 113
0101 114
BLOA 115
BLOA 116
BLDA 117
B L D A 110
& L O A 119
BIOI 120
BLDA 121
BLOA 122
BLDA 123
BLDA 12+
B L O A 125
B t O A 126
OLDA 127
BLOA 120
OLDA I29
O L O A 130
BLOA 131

29
 PODES - B I O I 106
100 NATURA1 CLlDA 180
0104 1JO
BLDA 101
BlDA 1 u2
BlOL 193
~iFA 1o i
n l o A 195
81 O A I ob
B l D 4 107

30
 AwmmIX c
BLOA 191
l L G 4 199
BLDA ZOO
BLDA 201
BLOA 202
BLOA 203

1
2
3
b
5
6
7
B
9
10
11
12
13
14
15
16
17
18
10
20
21
22
23
zc
25
Ze
2r
29
29
30
31
32

C 37
C 3a
C 39
*O
*A
e2
e3
,4
*5
e6
1r
18
e9
50
51
52
53
51
55

31
 20 I 50
4 50
25 '1 60
3 61
b 62
30 1 63
1 64
4 65
40 t 66
1 67
C 68
C b9
C 70
100 71
72
73
74
75
50 76
60 77
78
79
70 80
61
02
83
B4
85
Bb
67
88
89
90
91
92
93
94
P5
9t
AMP1 97
AWL 90
ARPL 99

AMP1 100
AMP1 101
AWL 102
AnPL 103
LMPL 104
ARPL 105
ARC1 101
AMPL 107
A W L 108
ARPL 109
LIP1 110
AM?l 111
AMPL 112
A W L 113
AMFL 114
AMP1 115
ARPL 1Lb
AM?l 117
AMP1 118
AMP1 115
AM?L 120
AWPL 121

32
122
123
124
125
12b
127
12a
129
130
131
132
133
13C
135
13b
137
138
139
140
141
142
143
144
149
146
147
148
149
150
151
152
153
155
155
156
157
158
159
160
16 1
1b2
1b3
1 b4
165

16b
1b 7
16 8
169
170
171
172
173
175
175
176
177
178
179
1e0
181
182
183
184
185
186
187

33
 61
$9
90
91
92
93
96
OS
96
97
91
99
00
01
02
03
O*
os
06
07

CARD 0
CARD 10
CARD 11
CARD 12
CARD 13
CARD 14
CARD 15
CARD Ib
CARD 17
CARD 18
CARD 19

CAR3 20
CARD 21
CARD 22
CARD 23
CARD 2C
CARD 25
CARD 26
CARD 21
CARD Zt!
CAPO 29
CAPO 30
CAP3 31
CAW5 32
CAQ9 33
CAQ9 3+
CARD 35
CAR0 36
CARD 37
CARD 313
CARD 39
CARD 40
CARD 41
CARD $2

34
 CARO 43
CARD 46
CAR0 45
CARO 46
CARO 47
CARD 40
A5 CARD 49
CARD 50
CLRD 51
CARD 52
20 CARD 53
CARD 54
CARD 55
CARD 56
30 CARD 57
CARD se
35 CARD 59
C CARD 60
C CARD 61
C CAR0 b2
CARO 63
CARD 64
CARO b3
CARD b6
40 CARD 67
CARD 68
CARD 69
CARD 70
CARD 71
45 CARD 72
CARD 73
CARD 74
crao 75
CARD 7b
47 CARD 77
CARD 7e
50 CARD 79
CARD 80
52 CARD 01
55 CARO 82
CARD 83
CARD 84
CARD 85
bo CARD 06

CAUD e7
CAPO I$@
CARD 89
CAP3 90
CAPO 91
CARD 92
CARD 93
CAR3 94
CAPO 95
200 CARD 9b
CARO 97
450 C A R 0 98
460 C A R 3 99
C A R O 100
C A R O 101
C A R D 102
C A R D 103
C A R D 104
C A R D 105
CAP3 106
C4RD 107
c A a 3 108

35
 C A R O 109
C A R D 110
CARD 111
CARD 112
CARD 113
CARD 116
CARD 115
CARD 116
CARD 117
CARD 118
CARD 119
CARD 120
CARD 121
CARD 122
CARD 123
CAP3 124
CARG 1ZC
CARO 120
CARD 127
CARD 126
CARD 129

SUBROUTINE C O E F t IA D D E T r IMAkr SOSO*. PPI COEF 1

C*************************************************~*******~******** COEF 2
C THIS S U B R O U T I N E C A L C U L A T E S T H E D E F L E C T I O N O F E A C H STATION COEF 3
C AS A F U N C T I O N 9 F D E F L E C T I O N S A T THE R O T F R B L A D E T I P FOR COEF 4
C CO€F 5
C IA.1 FOR C O L L F C T I V E *ODES COEF 6
C 11.2 FOR c r c i x t RODES CffEF 7
C 1A.3 FOR S C I S S O R S *ODES COEF B
C COEF 9
C I N A X = N O OF F R E O L I E N C I E S TU BE C A l C U L l T E D COEF 10
C S O S O N ( 1 T O I P A X ) C O N T A I N E S S Q U A R E S OF F R E O U E N C I E S * COEF 11
C COEF 12
C DET..TRUEo U S E D T O F I N O RODE S H A P E COR gMOYM M A T U R A L FREO. COEF 13
C COEF 14
C O E T ~ . F A L S E . U S E D TO FIND THE D E T E R * I Y A M T S f I F f h € BOUNDARY COEF 15
C COMDITION WATRICIES COEF 16
C****************************************************************** COEF 17
COMMON /COMA/ JHUBr N l r L O T r P O U T r I l l € I 1 0 ) r N A M E r D A I r N P G COEF 16

I r J M U B l r R R P N t l O J r R C O L L ~ 3 ~ ~ L ~ 3 l ~ r I N P U N ~ N O D P ~ *~BfLrAND E~ ST R S C C O E F 19
C O R N O N I C O M S / I R C O L 0 XRCOL ( 3 1 r I R P R r CRPM ( 10 1 r Z 9 A R ( 30 1 r E f EB ( 30 Jr SB( 3 0 1 r COE F 20
1 E Y E C ( 3 0 ) r S C ~ 3 0 ~ r S M ~ 3 l ~ r R B ~ ~ l ~ r R C ~ 3 l ~ ~ f H ~ 3 l ~ r U CTO~E F3 0 2~1
C O M N O N ~ C O M D / C M A T ~ 5 r S ~ ~ S O ~ N A ~ I~P lL NO (Ol rO 3O ~r 3r) r IMODE(103r3)r C O E F 22
1 M N 3 r M M 5 r C T ~ 3 l ~ r f f ( 3 \ ~ r I B r I S T r I B S ( 3 r l O ~ 3 ~ ~ ~ B E ~ 3 r l O r 3 ~ C O f F 23
COMMON/ H / V M X ( 30 ) r V O X ( 3 0 1 r V M Y 30 J r F ( 3 0 ) r F T X l 3 0 ) r FTY ( 3 0 ) r S X ( 3 0 ) r COEC 24
1 sr COEF 25
cow C O E F 26
CON , C O E F 27
1 0R COLF 2B
CLi* )r C O E F 29
1 EN C O E F 30
CON 155 )COE F 3 1
*? ZM C O E F 32
RE A COEF 33
LOG COEF 34
0I N C O E F 35
C CALCULI C O E F 36
DO C O E F 37
SDM COEF 36
SOfl C O E F 39
ZN( C O E F 40
ZOI COEF 4 1

36
APPENDIX c

COEF 42
COEF 43
44
45
4b
47
41
COEF 49
COEF 50
COEF 51
COEF 92
COEF 53
COEF 54
COEF 55
COEF 56
COEf 57
COEF 5E
COEF 59
COEF 60
COEF b1
COLF 62
COEF 63
COEF b4
b5
bb
67
be
b9
70
71
72
75
74
75
76
77
70
79
80
81
12
83
84
15

8b
17
88
89
90
91
92
93
94
95
96
97
91)
99
100
101
102
103
104
105
101
lor

37
 COEF 108
COEF 109
COEF 110
COEF 111
C a e F 11:
CO€F 113
CJEC 114
COEF 11s
COEF l l b
COEP 117
COEF 11B
COEF 110
COIF 120
COEF 121
COFF 122
COEF 123
COEF 12%
COEF 125
COEF 1 2 6
COEF 127
COEF 126
COEF 12'4
COEC 130
COEF 1 3 1
COEF 132
COFF 1 3 3
C O E F 13*
COlC 135
COEF 13b
COEF 131
COEF 138
COFF 139
COEF 14Q
COEF 141
CO€F 142

S U 5 R O U T l ~ E I Y P T ( I LI S T ) XMPT 1
~**********0*****************0***********.************0****4*** INPT 2
C T H I S SDSR'IUTINE R E A O S I N W T D A T A INPT 3
c*********************************************************.**** IMP1 4

INPT 0
IWCT 9
INVT 10
1NPi 11
INPT 12
INPT 13
IN*t 1s
IkPl 15
INPT 16
SNPt 17
IMPT 10
IMP1 19
IMP1 20
IMP1 21
INPT 22
IMP1 23
1NPf 24
INPT 25
INPT 21
INPT 27

38
 INIT 28
SNPT 29
IMP1 30
tNpf 31
INPT 32
IMP1 33
INPT 34
!NPT 35
4 INPT 36
INPT 37
INPf 36
IKPT 39
INPT 40
INPT 41
INPT 42
INPT (0
INPT 44
INPT 45
INPT C6
INPT 47
INPT 48
lNPT 49
INPT 50
INPT 51
INPT 52
INFr 33
IN;'? 54
INPT 55
INPT 56
INPT 57
INPT 58
INPT 59
INPT 60
SNP' 61
!NPT 62
IMP1 63
INPT 64
INPl of)
INPT 66
TNPT 67
INPl 59
INPT 69
INPT 70
.YPT 71

INI'T 72
INPT 73
LNPi 74
lNPT 75
,WPT 7b
IMP1 77
INPT 78
INPT 79
xwr eo
INPT 81
XNPT e2
INPT 83
Z l l t 0.0 lNPT 84
I F t A BAR.EOoO 01 GO TO 1 4 0 INPT 85
DO 1 ' C l = i r ~ INPT 86
2 t I* I = Z ( I l + A B AR INPf P t
ZBAR I l = A Z B A R INPT ee
1 4 4 C O W NUE INPT 89
60 1 I 1 4 5 IMP1 90
1 4 0 C O W NUE INPl 91
DO 117 I m l r N INPT 92
Z B A R Il.2( I+1 INPT 93

39
 *LOU 8
*LOU 0
?LOU 10
*LOU 11
)LOU 12
PlOU 1,
PlOU : 1
PL(IU 15
P L @ ~ ie
PLOU 17
PLW 10

PLOU 19
PLOU 20
)LOU 21
CLOU 22
PLOU 23
PLOU Z I
PLOU 25
PLOU 2I
PLOU 27
PLOU 2L
VLOU 29
PLOU 30
PLOU 31
PLW 32
?LOU 33
PLOU 31
PLW 35
?LOU 36
PLOU 37
PLOU 38
PLOU 39

40
 62
43
44
45
46
47
40
4v
50
51
52
53
54
55
56
'17
58
59
bo
61
b2
63
66
b5
bb
67
68
b9
70
71
72
73
74
75
76
77
78
79
80
81
e2
e3
04
85

I F ~ ~ O D I I F F D N B ~ D ~60 TO~ ~210

O N O ~ CLOU 06
63 T 9 236 PLOU 07
210 1FII.ME.ZJ 60 TO 220 PLOU 80
c ~ H I SPATH FOR c r c L I c ( r o o ~ s PLOU 19
. 0 J10 220
~ F ~ ~ O O l I F F ~ k l L D J o C Q 60 PLW 90
69 TO 2 3 6 PLOU 91
220 I F ( I . R E . 3 1 GO 13 200 ?Lou 92
C THIS CATM FOP SCISSOR MODES PLW 93
236 CONTINUE PLW 96
C PLOU 95
C CLOT 1 8 7 8 3 PER REV L I N E S ON CLOT ?LOU Pb
C PLOU 97
XPOS=XRAX PLOU 98
YI0S.Y SCOT ?Lou 99
IFIYSPOT.Lt.lRAX# 60 10 2 3 5 CLOU 100
YPOS*YRAX ?LOU 101
XPOS.YPOf~I0.25.~S?0T~ PLOU 102
235 C O W t f * U f PLOU 103
80.2)
CALL D A S H L N I O ~ O I O ~ O ~ X P O S ~ Y P O S PLOU 104
CALL RURIER I XPOSI YPOS-O.OSrO.18 VfPOT8O.O~~ll PLOU 105
fac RbfATEllPOf+0~0l57rYPOS~O~O5eO~l~6M/~EV~OoO~4~ PLW lob
CALL C A L ? L f ( 0 8 0 1 3 J PLDU 107

41
 A I 1
AI z
AI 3
A@ 4
A l 5
A I 6
A8 ?
AI 0
AI 0
AI 10
All 11
A I 12
AI 13
A I l*
A I 15
AR Ib
AI 17
AR 18
AR 10
AI 20

AR 21
AII 22
AI 23
AI 24
C AR 25
C AI 2b
AR zr
rir) All 28
AI 20
75@ AR 30
C AR 31
C AR 32
AI 33
AU 34
Aa 35
AR 38
Aa 37
e 74 Aa 38
8?5 A l 39
A I 40
AI *1
Aa *z

42
 **
bS
44
+7
$8
A 49
I 50
c 51
P 52
U 53
I 14
53
u 56
9 57
I1 50
59
I bO
c 61
62
63
'1 b4
n b5
I be
l 67
I 68
1 b0
1 70
1 71
1 72
(r 73
I 74
1 75
I 76
Y 77
m ?a
1 79
)r 80
5 81
1 82
P a3
1 84
C 85
910

900
904

909
9Ob
95
95
96
97
98
99
100
101
102
103
104
105
lob
107
108
109

43
 )I 1 0
1 1 1
J 1 2.
I 1 5
P 1 6
I 1 5
1 1 b
C 1 1
a 1 a
i 1
I 1 0
( 4 1
I 1 Z
I 1 3
1 1 6
Y 1 5 3
a 1 b
m 4 7
C 1 8
C 4 8
a 1 0
a I 1
lti a 2
1 3
I1 1
4 a 5
4 1 b
h 1 7
4 1 I)
Ii 1 0
Y 1 0
1, 1 1
I 1 Z

7
8
8
10
11
12
13
14
15
1b
17
18
A0
20
904 21
1 llHC Y C 1 I C r l / 22
1 6x1 3(40HhATURAL ROOT 23
I35HFREQ COLL SPEED I N E R T 24
2 RIM PLANE MODES r 6X 25
GO 10 1 5 2b
10 COI(T1NUC 27
MR It€ I b e005 I le
805 FOURATlSPXr A5Hf C I S S 0 R S r l I 29

44
 S
1
1
l
a
s
F
902 A
a8

10

21

Zt

23

00b

25

q0 7

30

900

40
50
bO

45
 (ram t
RODS 2
MOOS 3
MODS 4
RODS 5
MODS c
130s 7
MOOS II
roof 9
noos 10
RODS 11
MOOS 12
RODS 13
RODS 14
HODS 15
RODS lb
RODS 17
MODS 18
RODS 19
noos 20
MOOS 21
MOOS 22
MODS 23
moot 24
HODS 25
MODS 2b
MOOS 27
nons a
MODS 29
MODS 30
MODS 31
MOOS 32
aoos 33
MODS 34
RODS 35
MODS 3b
aoos 37
RODS 38
MODS 39
RODS 40
RODS 41
RODS 42
RODS 43
RODS 44

MOOS 45
RODS 44
bR0Df 47
RODS 40
noos 4v
RODS 50
MODS 51
MODS 52
MOOS 53
ROO$ 54
RODS 55
RODS 5b
MODS 5)
RODS 58
noos 59
RODS 60
RODS 41
RODS b2
RODS b3
MOOS 64

46
 APPrcNDIX D

LIBRARY SUBROUTING HATINY LISTING

f
c Czykw0s.t
c
E
C
c
c
f
5
c
c .I'ht

c
i N1h
c
c
i N
C
e 4
C
c
c
i:
c
c
L h
c
c
\

\I

c
c t3
\:
L

c
c
c
i-
L
L

i
C
c
I
c
c
i
L
c
c
\

c
c
\

47
 C
C
IS C A L E - A S C A L E CACTOO COMPUTED B Y T H E
S U R Q O U T I N E TO A V O 1 0 OVERFLOW OU
C UNDfRIFLOW I N THE C O M P U T A T I O N OF
C THE W A N T IT Y I M T E Q M o
C
C
C
IPIVOT - A ON€ D I M E N S I O N A L 1 N T E G L R A d R A Y
USE0 B Y THE bUt)PROGRAM TO S'ORE
C P I VOTOL I NFWMAT I ON. I T SHOULD e t
C D I M E N S I O N E D AT L E A S T N o I N GENEWAL
C T H E USER OO€S N O T NEED T O MAKE USE
C OF T n t s ARRAY.
C
C
C
I WK - A T W O - O I M E t 4 S ~ O N A L I N T E G E R ARRAY OF
TEMPORAf?Y STORAGE USED t)V THE R O U T I N E .
C IUK SHOULD H A V E I T S FIWST D I W N S I O N
C WAX. A N 0 I T S SECOND 2.
C
C REOUIREO R O U T I N E S -
C
c HEFERE NCL -FOX.Lr A N I ) u T R O W C T I O N TO N U M E R I C A L
C L INLAW ALGEBWA
C
C STORAGE - 542 O C T A L L O C A T I O N S
C
C L A NCUAGE -FORT R A N
C
C FORTRAN
C L I B R A R Y F V N C T l O N S -AfjS
C
C LATEST MEVISION - JULV 1973 -CMPC)
C
C M A T U I X I N V E R S l O k W I T H A C C O W A N V I N G SOLbTlON OF L l N t A C l L Q U b T l O N S
C
OfMENSION I P I V O T ( N ) s d ( M P X r N ) r ~ ( M A % . N ) r l U ~ ~ M A X r ~ )
E Q U I V A L E N C E tl40YrJWON)r ( I C C k L W * J C O L U ; f l ) r 14MAX. T I S W A P )
C
C I N I 1 IA L I L A 1 I O N
L
ISCALE=O
R l = I00 0,. 1 (r0
WZ=l eO/W1
DETERM~loO
00 20 J I I r f J
IPIVOT(J)+d
00 550 1 - 1 . N
C
C SEAHCH FOR P I V O T ELEPENT
C
AMAX=().O
00 105 J ' l r N
IF ( I P I V O T ( J ) - I ) 6 0 1 1 3 5 r 6cl
DO 100 K = l * N
I F (IPlV31;4)-1) M d r IO$* 7 4 U

48
 140

200

210

250
260

t
C
C
I u3v
O I O I IO10
ILIb

020 * IO20
I u23

49
50
 1- Iknncrtt, It. t . r Digital Cagutvr P r q r u DF1756 Fully Coupled Natural Fro-
emir8 and m Sh-8 & a Helicopter Rotor Wade. & ! CR-132661,
897q.
1, pPvi8, 3ohn N, 8 k n n e t t , Richard t .; and Blankmahip, Barney L. t Rotorcraft
-
Fliqht Simulation With AIrQIlrrtiC Rotor and Improved Aerodynamic Ripre8.n-
trtion. Volum I Enqirtew'r M u a l . WAANRDL-TR-74-1OA, 0.8. &my,
&me 1974, (Available trm G#: a8 AD 762 654.)

3. Ikvir, J a r , N.; Rotorcraft Flight Simulation With A e r w l a r t i c Ratnr

and hprovd Aerodynamic Repteswttrtim, Volume IX U a w ' r h n u r l .
U S ~ A M U P T R - ~ ~ - ~ O BU,S.
, &my, June 1974. (Available from L
-
W a8
AD 782 756.)

4. Nctrrty,
-
T b t Ratcarcraft F l i g h t Simulation With C0,plsd Roc% Aeroelaa-
tic Stability A n & 1 \ ' 3 h Volunn '1 Bnginoarr hnue2. i..sAA!4#L-TR-76-41Ae
U.S. A m y , Nay 1977, (Available fron llbc a AD A042462.)
5. Bennott, Richard t . 8 Rata Sy8t.r. De8ign and Livaluation Using a General
Purpae NelicQptsi Flight Simrr~rtionFrqram. Specialists meting on
Helicapt+r Rot= toads P r e d i c t i o n Wethoas. AGARD-cP-I~~, Nar. 1973,
f " ~5-1
. -
S-15.

6. Sadler, S, Gena8 Inlornal Final Report on Blade Frequency Proyram for

Nonuniform Heli,x?pter Rotwcs, With Automatad F r e q u e n c y Search. NRSA
CR-11%071, [1972].

1, Gould, R, J . ; barkina, R. F + ; N i l n e r , J. A.1 and r r a t t , N. J.: Corrgutn-

tlsnel NsthQda in tinaar Algebra. John Wilay & Sons, Inc., c.1974.
8 . Ycunp, Dana; and h l g a r , Robert P., Jr. t Tables of Characterlatic F u n c t i o n s
Representing Normal b l e s of Vibration of a Beam. Publ. No. 4913, Sng.
Reo, Ser, No, 44, M u r . Brig. Res., Univ, of !hxab, July 1 , 1949,
9, Nutty, Ual**r C , t ann Ruhinstein, b s h e F.; @ynaraicsof Structures.
Prentic+-HalI, lnc., e . 1964.

1 1 . Timshenko, 8.8 and Young, D. H.: Vihration Problems i n E n y i n c e r i n q . Third

d. 0. Van No*trancl Co., l n c , , 1955.
12. Carpenter, Jmcn 6 . 8 and S u l l i v a n , Edward M. t S t r u c t u r a l and V i b r a t i m a l
Charactcriotlca of MA&' S-5 Mala1 P r o p e l l e r Blades. PJALV Tach.
Rep, 36-298, t1.S. Air lrcvc*b, June 195:. (Available from rrrC a8
M) 130 787.)
13. White, William r., Jr.t and Malatino, Raymond 6.8 A Nurrricrri Neth ? sot
Prsterrinlng the Natural Vibration Charrcterirtico of Rotuting Won .torr
Cantilevat 8lrd.s. NASA TU X-72,751 , 1975.

The International Systea of Units

14. Nrchtly, E. A , t - Phyaical Constants and
Cbnverdon Factors (Second Revision). NkSA SP-7012, 1973.
 TABLE I.- S W P Y OF BOtlNDlr”.Y CWDITICH EQL’ATIONSa

Cyclic mode

t - (Rop - &p!u2)6y 0 6v-0

D - (Xip - MipU2)6x 0 6, = 0

8 - 0 M - Xg8 0 8 - 0

$ - 0 Jl-0

dtT - K& = 3) d(T - K& 0)

-- -e ( @* 0)

53
'i 3
16, 4%, 1OA6

8F10.0

4 !X5,4?S. O,F10. a

I
I

in.

in.

54
 _-----_--
?brut Units Darcr i p t ion
--- - ----- -..-
of frequency calculat.bns

tf,lOlS.O Nwbcr Of rotor 6pwd8

tS~IOFf.0 nu art!^^
of rotor collective p i t c h
anglss

deg Rotor c o l l e c t i v e p i t c h a n g l e s
8F1O.O in. Outbcvrd end a t a t i o n s of segments

6F10.0

BFlO.0 Chordwise bending s t i f f n e s s

8f10.0 Weight per u n i t l e n g t h and t i p w i g h t

IF10.0 Nonlinear t w i s t d i s t r i b u t i o n a t
station

8FlO.O Beamwise ~econdmass moment of

inertia

4 13 8F10.0 Ib-eQc2 Chcrdwise 6pcond mass moment of i

j inet t i a i
I

14 liF10.0

1s 8F10.0

16 8F10.0 in. Chordwise ehear c e n t e r offset

17 8FlO . O in. BQIIIMIS~o f f s e t of c e n t e r of grav!ty

18 8FlO.O in. Chordwise offset of c e n t e r of g r a v i t y

aN v a l u e s are inpuk, one for each segment.

bN v a l u e s a t e input and t h e t i p weight is l i s t e d i.r f i e l d N + 1 .
CN t 1 v a l u e s a l e i n p u t , @ne for e a c h s t a t i m .
% v a l u e s are input and t h e offsets p r t a i r ? i n g to t h e t i p w l y h t a r e
input i n f i e l d N t 1 .

55
 card colpa
OOOOOOOOl1111111112222222222~3131;;11;4444~4~~i~5555ci5S5556~6b~b6666~~7~777777R
2345~7890123~56789012~45b~R901234567~90~~~4~6~R90123~~~~R9012~456~R901~3

ECK TflRSIfIN PLOT nnnc SHAPF PI INCH

00000 C f l W l l l f Q PRflGRAM S A W 1 6 C A S F
66000. .99 .259 1150. 1150. 0. n. 15500.
30 2 .O .3 4. 3. a. 1. 15000.
3 1100 1200 1300
3 0 6 1 2
1.5 3.0 4.975 (5.87 9
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62900. 62900. 67900. 62900.
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250000. 972000. 972000. R20000. 560000. 560000. 5h0000. 560000.
60000. 560000. 560000. 560000. 560000. 560000. 5h0000. 5600OC.
60000. 560000. 1000000. 1OCOOOO. 100000. 1sJ0000.
1.7083 1.7083 .4165 a4185 .It304 .0705 .0705 .122hR
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0. 0. 0. 0. 0. 0. 0. 0.
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0. 0. 0. 0. 0. 9. 0. 0.
0. 0. 0. 0. 0. 0.
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5900. 75900. 75900. 75900. 75900. 75900. 75900. 75900.
5900. 75900. 114000. 114000, 11400, 11400.
0. 0. 0. 0. 0. 0. 0. 0.
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56
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59
 -I_ -_ 1-1 --. -I _- .-
Card Description Frut
-- 2

1 ldentiflolrtidn card containing case n u r k r and 16, a,10 h6

ti tlr

2-1 3 i a t r i k r t i o n of might p r u n i t length and t i p 7F10.5

w i g h t , lb/in. and l b
5-7 W i s e second mass moment of inertia, lb-sec2 7Fl0.5

6-1 0 :hor&iae second i a i s m n t of inertia, l b s a c 2 7P10.5

11-76 2ollective mode d e f l e c t i o n 8hap@S, case nmbec, 6F10.6, lox, 16, 212
mode nmhx, rodc type

77-1 42 *lit mode deflctrtion shapes, case n u b a r , d e 6F10.6, lox, 16, 2x2
n u k t , and rob., type

143-208 Scissor8 mode d e f l e c t i o n shapes, case n u n k r , 6F10.6. lox, 16, 212

mode n m k r , and .oQc type
209-21 4 Collective .ode c y c l i c &tutti. : ~nfcrrscion,ref- iF10.2, 2FS.0, 16, 212
erence values of collective PA+.. and rotor
speed, cas4 numbr , ande number, and mode type

21 5-220 a c l i c aode c y c l i c detuniry information, refer-

ence values of c o l l e c t i v e b i t c h and rotor
s p e d , case nuaber, mode nmber, and node type

221-226 Scissors node cyclic detuning information, refer- iF10.2, 2FS.0, 16, 212

L---.
i
ence values of collective p i t c h and rotor
apecd, case number, mode nmher, and mode type
-. ..- .-.. .
. ___ . ~~ .. ~ - ..-- I - .- -~-_I._.(-_I--.--

60
 Card col-

1
2
3
4
5
6
7
0
9
10
143
144
145
146
147
1
4
1 4
1 9
151
152
153
154
155
1%
157
158
1
s
l(0
161
162
163
164
165
166
1L?
160
169
170
171
1.2
173
174
1 75
176
-
177

61
 Qrd 10.
178
ITS
10
1I 1
1U
183
184
185
186
107
1W
9I 9
190
191
192
lB3
194
19s
1%
197
198
199
rn
201
w1
103
101
a 5
101
207
208
221
aaa
223
124
22s
-- i 3 .

62
 M R CORRELATION STUDIES

____ --.-
Roprr t Y Caae 1 Cars 4.
- ----
.. .. .. ..
r 1

( B I ) ~ , lb-in2 8000 8000 8000

(&I),., I b i n 2 32 109
GJ, 1 b - d .
w, lblin, . .. .. .. .. .. 8717
32 b 109 32 109
8717
32 z 109
871 7

.. ..
0.024
U,Ib . . . . . . . .
0.024 0.024 0.024

.. ..
0
I&, l b - s ~ d . . . . .
0 0
-0.5176 -0.5176 10-5 -6.5176 10-5
I&, lb-ared . . . . . 0.1087 0.1087
N
%,
. . . .. .. .. .. .. .. ..
in.
25
1.0 I
0.1087
25
1.0 i
25
1.0 I
1 0.1387 10-3
75
1.0
Sb, in. .......
,. in. . . . . . . .
0' 0; 0
& 0' -0.7454
rb, in. . . . . . . .
01
0 0
re, in. . . . . . . .
0,
0 0
0, t m . . . . . . . . 0
8c, dag . . . . . . .
0
0. 0 0
et, d.q . . . . . . . 0
, inJb/r.d . . . .
0 0
q . 0 p. Q

U i p , lb/in,
%, lb/in. . . . . .
..... 0
0 0
QI 0'

.. .. .. ..
01
UT, in-lb/rad 0 0 a
'
KB, in-lb/rad 0 0
IC*, in-lb/rad .... cj
Nip,

---.
ib-8ec2/in, . . .
Ebp, lb-sec2/in. . . .
.............................
0
0

O1
O!

. _ 1 . . . . 3
0

63
 TABLE X.- m A T I N G PROPELLER ANALYTICAL REPRESENTATION USSD

FQR CORRELATION STUDIES (CASE 5 )

--
;J+ EB 6 @ 2 WI
2,
lb-in 1 Lb/in.
-
in.

4.0 P) _----- 0 .----------I-------- ~

5.0 1 000 000 I. 5000 -2.55 ). 00001 0000 0.002000

6.0 800 000 100 000 000 700 GOO .3993 -5.10 .000007137 .001692
7.0 180 000 51 000 000 575 000 .3100 -7.65 .000005069 .001400
8.0 140 000 47 900 000 480 000 .2761 -10.20 .000003001 .001265
9.0 110 000 46 800 000 420 000 2600 -1 2.75 .000002507 .001225
10.0 92 000 45 800 000 383 000 .2437 -1 5.50 .000002013 .001184
11.0 72 000 45 100 000 348 000 .2408 -18.25 . OOOOL1755 .001204
12.0 63 000 44 400 000 320 000 .2379 -21.00 . 000001 496 .001223
13.0 53 000 44 100 000 295 000 .2294 -23.55 .000001270 .001228
14.0 42 000 43 800 000 275 000 .2209 -26.05 . 000001 043 .001233
15.0 37 000 43 800 000 261 000 .2166 -28.45 .000001042 .001245
16.0 32 000 43 800 000 251 000 .2123 -31.05 .000001042 .001256
,000000882 .001263
17.0 29 500 44 100 000 241 000 .2081 -33.45
18.0 27 000 44 400 000 230 000 .2039 -35.55 .000000722 .
001 270
19.0 26 500 45 800 000 214 000 .2018 -37.60 .000000691 ,001 289
20.0 26 000 47 200 000 196 000 .1997 -39.55 . 0 0 0 0 0 0 6 5 ~ .001307
21 .o 25 500 49 300 000 173 000 .1955 -41.50 .000000638 .001311
22.0 25 000 51 400 000 1 5 3 000 .1912 -43.00 .000000616 ,001316
23.0 24 500 53 700 000 125 000 .1912 -44.30
23.5 24 000 54 900 000 100 000 ,1912 -44.90
24.0 24 000 56 000 000 78 000 .1912 -45.55
-- -_ - - 1 _ _ _ 1 -~ __I-

64
 Natural frequency, w , cpm

-.
I

mact Rxact lcnputed €atart Computed

..
-0.608 0.71 1 0
-.
-.
604 .694 .I99
0
.I98
-0.71 4
-.672
-0.907
-. 665
594 -.
.12 -.576 -.
-. 576
6-4
.564
,381
.534
,379
.f31
-.551
-.365
545

,16
.10
-24
-.552
-.!s!l
-.483
-.551
-.
520
*..403
-.484
482 -.551
-.403
-.483
9.551
.459
.330
.186
.457
.i28
,104
.645
705
.709
.641
,700
.lo4
-.136
.lo9
.342
$26 -,439 9.438 9.605 w.604 .034 ,032 ,657
-.389 -.
.32
.36
.40
-.389
-.333
-.27t
-.-.272 -.642
333 -.662
-.641
-.661
-.119
-.265
-.397
120
0.266
-.397
,555
,408

1 .44
.48
-.207
-.136
-.
-.
206
136
-.663 -.662
- 507 .036
-.591 -.160
.23?
, .032
,-.163 1 .572
.394
-. -.643 -.341
I

.52 -.062 062 -.557 -.556 -.645 '9.343 1 .171

.S6 ,016 01 6 -.486 -.485 -,663 -.661 -.493 493 1 -. 070
.60 .097 .098 -a399 -.397 -.646 -.643 -,602 -.600 ,-.
1 -.301
.64
.68
.1P1
,268
182 -.297
.260 -.I82
-. 295 -.
-.le0 -.SO3
592 -.588 -.650 -.6655 j -.492
-.499 -.657 jq.652 ! -.620
,356 -.OS5 - . 0 5 3 , -.381 -.377 -.595 .-.588 I -.e67
.146
,537
-.226 -.474 ;-.467 -.625
-.052 -.302 - . 2 9 4 - . 4 9 4
.629 .142 -.006 .-.078 -.284 j
.721 ,347 .163 j ,170 -.OlO
.814 ,562 .433 I ,438 j .308
.901
1.000
786
1.000
.715
1.000 1 .650
1.000
 Natural frequency, 4 cpr

-
- . __ . ...
P -.
:craputed Exact
.- - . ....
Caaputed Dtact
- --- -
I 0 0 0 1 0 Q
.04 -.017 -.017 .044 .Oh4 .i30
-.062 -.
.08
.12
.16
-.128 -.
-.21 1
061
128
-*210
.157
.307
.466
.156
.306
,464 -.681 .77u
.d01
.GSO
.' 5 6
.20
.24
-.301 -.
-.395 -.
301
394
.608
.712
.605
.707
-. 766 .660
.377
.28 -.485 -. 484 .?61 .755 -.013
.32
.36
-.566
-. 634
-.-.
565
633
.748
.670
.741
.663
-.
-.
392
646
.40
..48a4 .230
.272
,230 -.
.272 -.715
685 -.-.
684
71 3
.534
.350
.526
.343
-.
-.
697
529

.52
.316
.363
.317
.363
-.-.722
704
-. 720
-. -.
701
,137
085
.131
-.
091
-. 196
,198
.56
.60
.411
.461
. 4 1 1 -.661
.461 -. 592
-. -.
-.
658
589
236
-.473
-.
299
-.474
.532
.no
.64
.68
.512
,564
.512
.564
-.-.500
385
-.
-.
497
382
-.598
-.659
;-,597
/-.(is5
.651
.403
-. -.247
.72
.76
.80
.617
.671
.725
.617
.671 -.
.725 .067
251
099 -.096
.070 -.
-,647
-.561
404
!-.641
1-.553
-. 395
-.
-.
.03?
343 !
600
.84 .780 .780 .244 ,246 -. ie8 -. 178 -.518 1499 -.673 ,-.652
.88
.92
.96
.428
.617
,808
.430
.618
.a09
.076
.371
.682
.085 -.247
. 3 7 8 , .123 1 -.226
.141
-, 501 ;-.467

1.00 I .ooo 1,000 1.000

- .- - -.. ..- . . .

66
 Natural. frequency, U , cpar

Canputed
--
11004

Mode shape

I frat mode
-- --
Second b x l e
-- --
Third mode 1 Fourth mdc I Fifth laode
I- --
:ampoted k a c t :aaputed ba:t ' mputed :anputed Exact
--. -- -- -I

-1,000 -1.000 1 .ooo 1,000 -1.000 -1.000 -1.000

-.992
0.969
-.
-. 992
969
.969
,876
.969 -.
-.
930
729
-.
-.
809 -.
-.
800

.12 -.
-.
930 -.
-.
930 729
.876
.729 -.
-.
426
309
.309
309
.309

.20
.24 -.
-0
876
809
729
-.
-.
876
809
729
.536
-309
.063
.536
.309
.063
063
,309
.637 .637 -.992 -.992
.a99
1.000
.809
.809
1.000
.a09
.28
.32
-.
-.
637
536
-.
-.
637
536
-.
-.
187
426
-.
-.
187
426
.876
.992
.876
.992
-.930
-.637
-.93C
,-.637
.?09
-.309 -.
.309

.36
.40
-.
-. 426
309
-.
-.
426
309
-.
-.
637
809
-.
-.
637
809
.969
.809
-. 809
-1.000
-.809
-:,000
309

.44
* 48
-.
-.
187
Of3
-.
-.
187
063
-.
-. 930
992 -.-.
930
992
.536
.187
.536
.187
.729
.969
,729
,969
-.
-.
809
309
-.809
-.309
.52
.56
.063
187
.063
.187
-.
-. 992
930
-.
-.
992
930
-.
-.
187
536
-.
-.
187
536
.969
.729
.969
.729
.309
.a09
.309
.eo9
.60
.64
.309
.426
.309
.426
-.
-.
609
637
-.
-.
809
637
-* 809
-.969
-. 809
-. -.
969
.309
187 -..309
18;'
1.000
.eo9
1. coo
.809
.68 ,536 .536 -.426 -.426 -.P-2 -. -.
992 637 -.637 .309 .309
.72
76
.637
.729
.637
.729
-. 187
.063
-.187
.063
-.
-.
876
637
-. 876
-.637
-.
-.
933
992
-.
-.
933
992
-.
-.
309
809 -.
'e. 309
809
.80 .eo9 .BO9 .30Y .309 -.309 -. 309 -. 809 -. 809 -1.000 *.1.000
.84 ,876 .876 .536 .536 .063 .053 -. 426 -. 426 -. 809 -, 809
.88 .930 .930 .729 .729 .42b .426 .063 .053 -. 309 -.309
.92 .969 .969 .876 .876 .729 .729 .536 .536 .309 .309
.96 ,992 .992 .969 .965 ,930 ,930 ,876 .876 .809 .809
-
1.00 1.000
- ..
1.000
..
1 000
-_I_
1.000
-
1.000
. -.
1,000 1.000
- -- .-- -
1,000 1.000
--
_.
1.000
--

67
 F k 8 t lDdt I saarnd & n i r d rodc Fourth .ode I F i f t h #dt

c q u t e d mtact caputed Exact Cjnptted &%act

Computed Exact Corputed Exact
5W4.9 5505.8 16493 16517 27416 21529 38231 38541 48895 49552
b

Third mode rodc F i f t h rodt

--
!aputed Sxact :ollputtc
--I_.- ---
1 0 0 0 0
.04 .063 .063 -.187 -.la7 .309 .309 -.426
.08 ,125 .125 -.368 -.368 .588 .588 -.771
.13 -187 .187 -.536 -.536 .a09 .a09 -.969 .992
.16 -249 .249 -.685 -.685 .951 .9Sl -.982 I
.20
.24
.309
.368
-309
.368
-.a09
-.go5
-.e09
-.905
1.000
.951
1.000
.951
-.809
-.482
.771

-.
.28 .426 ,426 -.969 -.969 .a09 .a09 -.063 -.249
729
.32 482 -482 , -.998 -.998 .588 -588 .368 .368 -.982 -.982 1
.36 ..36 .536 -.992 -.992 .309 .309 .729 .729 -.930 -.930,
.40 .588 .588 -.951 -.951 .000 . 000 .951 .951 -.sa8
.44 .637 .637 -.a76 -.a76 -.309 -. 309 .992 .992 -.063 -.063
.48 .685 .685 -.771 -.771 -.588 -.588 .a44 .844 .482 .482 1
.52 ,729 .729 -.637 -.637 -.809 -.803 .536 .536 .e76 -876j
-.
.56
.60
.64
.771
.809
.844
.771
.a09
.844
1
1
-.482
-,309
-.125
-.482
-.309
-.125
951
-1.000
-.
951
- * 351
-1.000
951 -.
-.
-.
.125
309
685
.125
-.309 I
-.685
.998
.809
.368
.998 1
.a09 j
.368 I
-. -. -. -.
:!!:1
.68 .876 .063 .063 309 809 930 -.930 -.187 187 I
72 .905 .249 -.
588 588 -. -. 998 -.998 -.685 -.685
.76 .930 J:: .426 -.
309 309 -. .-. 876 -.969
.80
.84
.951
.969
.951
.969
,588
.729 'I .588
.713
.ooo
.309
.OOG
.309
-.
-. 588
187
-.
-.
-.
951
637
.8A .982 .982
.992
.998
1.300
.044

:83:
1.000
1 .844
.030
.9d2
1.000
.588
.809
.951
1.000
_ .
.588
.a09
.951
1. '0
,249
.6 37
.go5
1.000
- -
125
.426
.a44
1.000
- ~ I _

68
 TABLE XV.- OOnPARISCNS OIP OOCIPUTBD UNaWPLgD BBNDING AND MRSION NATtauL

u31- BMn WI'ftf A TIP (CASB 2)

no& keferance freqwncy,b Carpuled f reqwncy,

F _-I.__

Ver t i c a l 266
Vertical 2 837 2 817
Tot 8 ion
Vertical
Tor a ion
-- -_-_.-
5 506
8 847
16 517
__--_.
.-.__- _- 1
STha t i p weight, as represented, a f f e c t s only the bending natural
f tequencics .
---
5
8
16
505
823
493

b e e reference IO.

TABLB XVI.- mPARISONS OP c(mpuTED WCOUPLEO BENDING AND TORSION

NATURAL F'REQURXISS WITH FXISCT SOLUTIONS m.A WINROT! FING,

SIMPLY SUPPORITD, UNIFORM BEAH (CASE 3)

. .. . . ~ - _-__ I__ -__ _- - I _

Cunpiited frequency, Exact frequency,

cpr, cpa
- .- __
-_I-- I-

Vertical 1 711 1 711

\"xr tical 6 846 6 84G
To.- sion 11 004 11 012
Vertical 15 402 15 403
Tor sion 21 966 22 023
Vertical 2? 380 2? 382
Tot 8 ion 32 841 33 035
Vertical 42 779 42 785
Tor 8ion 43 582 44 047
T o r s ion 54 :58 55 058
-. .. .. . .-. -I

69
 carputcd Exact solution
)bdc
we cpr +fly, in-1
(a)

1 1 704 -0.01 1 1 704 -0.01 1

2 6 726 -.046 6 727 -.046

3 11 050 54,629 11 057 53.81 7

4 14 740 -.113 14 750 -.111

5 22 354 12,953 22 411 12.985

6 25 032 -.220 25 094 -. 21 5

7 34 315 5.322 34 497 5.384

--.-_
8
I _I
36 417
_I--I -. _I.-.
-.369
- __--I__-
36 665
II_____I_.
-.356
aThe quantity f i y is measured at the center of gravity.

70
I
rl

71
 Y t?

(a) Center-of-gravity o f f s e t .

(b) Shear c e n t e r o f f s e t .

Figure 2 . - Sign conventicsns for center-of-gravity and

shear c e n t e r o f f s e t s from pitch axis.
7?
 (a) Vertical plane.

(b) Horizontal plane.

?j+1

( c ) Torsion plane.

Figure 3.- Sign conventions for deflections, slopes, shears, and moments
a s m i s t e d with a blade segment. Arrows indicate positive directions.
73
 Y

(a) Forces and m e n t s independent of deformation.

?igure 4.- System of forces and raacnts at a single mass station.

74
(b) Forces and moments dependent on deformation.

Figure 4.- Concluded.

75
 Y

(a) Collective out-of-plane condition.

(b) Collective in-plane condition.

Figure 5.- Rub bundary condition representations.

76
 Y

( c ) Cyclic out-of-plane a o n d i t i m .

(d) Cyclic in-plane condition.

<J sa

Hinge
offset

h 2

(e 1 Scissors ou t-of-plane cond it ion.

Figure 5.- Continued.

X
t

( f ) Scissors in-plane amditian.

(g) Torsion condition.

Figure 5.- Concluded.

 (a) Schematic of typical determinant rad auxiliary functions.

Extrapolated trial fr. puency

3
v
4

I w
cr?
3-1 1

(b) Illustration of natural frequency iteration technique.

Figure 6.- Determination of r-atural frequencies using the auxiliary function.

79
 INPI

s'UNCH

-
-L
El-
CALL START

el-J
I YES

CALL AMPLID
;

I
I
AMPLID 1U
PARANTERS
INMHNMNI
OFn AND 8

r
NO
_j

PtOl FREWfNCV
.TRSUS n
NO

Figure 7.- Computer program flow chart and logic.

80
 8.797 1 REV SCISSORS 0 VERT LCRL
i200. RPM 0 H9f?IZO)UlFK.
G.0 COLI 0 TORSION
0

5
Y

k
u
b!
- I

LL
w
0

0 .2 .L1 -6 i -0
RHD 1 Us

9.157 / REV SClSSORS 0 VERTLCQC

1200. RP:' 0 HORIZONTFSL
6.0 COLL 0 TORStON

z
0
w
t-
u
w
-I
LL
w
0

-1.01
0
1
.2
i
.Li
1
a6
I
.8 1.0
I
RRD l Us

Figure 8.- Illustration of program optional output (mode shape plot - j .

81
 CFlSC loaooo. COUPLED BLFICE NFITIJf?fK FREQUENCfES l7(1/OY/lYI
C W U I C R PRowI#( m f EASt

x 10’

’“i
11.2 -

Figure 9.- I l l u s t r a t i o n of prog:an; o p t i m a l out-art ( p l o t of v x i a t i o n

of natural frequency w i t h rotor speed).

82
 E
2
-3 cl
d
Q, Lc

4
k
3
U
a
C

CI
0
Y
cu
2

0 0 0
0 0 0
0 0

53

83
 0 0 0 0 0
0 0 0 0
0 0 0 0
N
co
0 tD
hl r) r)

84
 33
10

0 3
3
3
-3

3
3
3
d(

M
0)
a 3
3
3
n

o e 0
MID 0
0
cv

o a
0
0
2

85
L William 8. Weller and Rayrond E. Mineck
- 10 W i r k Unit No
-_ .- .._

and

.
NASA Langley Research Center
H*PtOne M 23665
12 S p n n n i i q A p ~ bin*
v
~

and Atkiin.

t -1
-_.___...____

National Aeronautics and Space Administration

Washington, DC 20546
_I_I__
13
___I . .-
TbLW < I t f\l*lhrlI Jt>cl

Techr! ica 1 Memo randum

1 1 &nib r’rolrrt No
- - -
-. __ -. . - -1 I
i’w\%,<t( ~ s b ~ ’ . h l

15 Supoiemrntrrv No!-
and
U.S. Army Aviation RcD Coaaand
St. Louis, MO 63166

Laboratories (AVRADCa4)
_L_-

William H. Wellec and Raymnd E. Clineck:

.
1----
1 L161 I O 2 ~ ~ 4 5

Structures Laboratory, U.S. Army RcT

-I__-_I- --_- -.--__I - -l_i

16 Ab%Ifdcl
i
An existing computer program, used for predicting the natural frequencies an? mode !
shapes of helicopter rotor blade. , has been refiqed to improve prcqram accuracy
and versatility. The program is based on the Holzer-Myklestad approach adapted
for rotating beams. Coupled vertical (out-of-plane) , horizontal (in-plane), and
torsional mode characteristics can be determined for a variety of hut, and blade
configurations of practicd interest. The resulting Frogram is dwumented hy pre-
senting the recursion equations and techniques for determining natural frequencies
and d e shapes, input data requirements, and descriptions of various program out-
puts. The accuracy of the progrpm is demnstrated by ccmparing computed result:.
with exact solutions to classical problems and expcrimental data.

iI
!

Natural frrquencies Unclassified - Uniimitcd

Mode shape
I