Monumental text offers comprehensive, detailed coverage of every aspect of theory and design: elements of vertical flight, forward flight, performance, mathematics of rotating systems, rotary wing dynamics and aerodynamics, aeroelasticity, stability and control, more. Essential reading for those interested in design and development of vertical-flight aircraft. 189 illustrations. 1980 edition.

Table of Contents for Helicopter Theory

Acknowledgements
Notation
1. Introduction
1-1 The Helicopter
1-1.1 The Helicopter Rotor
1-1.2 Helicopter Configuration
1-1.3 Helicopter Operation
1-2 History
1-2.1 Helicopter Development
1-2.2 Literature
1-3 Notation
1-3.1 Dimensions
1-3.2 Physical Description of the Blade
1-3.3 Blade Aerodynamics
1-3.4 Blade Motion
1-3.5 Rotor Angle of Attack and Velocity
1-3.6 Rotor Forces and Power
1-3.7 Rotor Disk Planes
1-3.8 NACA Notation
2. Vertical Flight I
2-1 Momentum Theory
2-1.1 Actuator Disk
2-1.2 Momentum Theory in Hover
2-1.3 Momentum Theory in Climb
2-1.4 Hover Power Losses
2-2 Figure of Merit
2-3 Extended Momentum Theory
2-3.1 Rotor in Hover or Climb
2-3.2 Swirl in the Wake
2-3.3 Swirl Due to Profile Torque
2-4 Blade Element Theory
2-4.1 History of the Development of Blade Element Theory
2-4.2 Blade Element Theory for Vertical Flight
2-4.2.1 Rotor Thrust
2-4.2.2 Induced Velocity
2-4.2.3 Power or Torque
2-5 Combined Blade Element and Momentum Theory
2-6 Hover Performance
2-6.1 Tip Losses
2-6.2 Induced Power Due to Nonuniform Inflow and Tip Losses
2-6.3 Root Cutout
2-6.4 Blade Mean Lift Coefficient
2-6.5 Equivalent Solidity
2-6.6 The Ideal Rotor
2-6.7 The Optimum Hovering Rotor
2-6.8 Effect of Twist and Taper
2-6.9 Examples of Hover Polars
2-6.10 "Disk Loading, Span Loading, and Circulation"
2-7 Vortex Theory
2-7.1 Vortex Representation of the Rotor and Its Wake
2-7.2 Actuator Disk Vortex Theory
2-7.3 Finite Number of Blades
2-7.3.1 Wake Structure for Optimum Rotor
2-7.3.2 Prandtl's Tip Loading Solution
2-7.3.3 Goldstein's Propeller Analysis
2-7.3.4 Applications to Low Inflow Rotors
2-7.4 Nonuniform Inflow (Numerical Vortex Theory)
2-7.5 Literature
2-8 Literature
3. Vertical Flight II
3-1 Induced Power in Vertical Flight
3-1.1 Momentum Theory for Vertical Flight
3-1.2 Flow States of the Rotor in Axial Flight
3-1.2.1 Normal Working State
3-1.2.2 Vortex Ring State
3-1.2.3 Turbulent Wake State
3-1.2.4 Windmill Brake
3-1.3 Induced Velocity Curve
3-1.3.1 Hover Performance
3-1.3.2 Autorotation
3-1.3.3 Vortex Ring State
3-1.4 Literature
3-2 Autorotation in Vertical Descent
3-3 Climb in Vertical Flight
3-4 Vertical Drag
3-5 Twin Rotor Interference in Hover
3-6 Ground Effect
4. Forward Flight I
4-1 Momentum Theory in Forward Flight
4-1.1 Rotor Induced Power
4-1.2 "Climb, Descent, and Autorotation in Forward Flight"
4-1.3 Tip Loss Factor
4-2 Vortex Theory in Forward Flight
4-2.1 Classical Vortex Theory Results
4-2.2 Induced Velocity Variation in Forward Flight
4-2.3 Literature
4-3 Twin Rotor Interference in Forward Flight
4-4 Ground Effect in Forward Flight
5. Forward Flight II
5-1 The Helicopter Rotor in Forward Flight
5-2 Aerodynamics of Forward Flight
5-3 Rotor Aerodynamic Forces
5-4 Power in Forward Flight
5-5 Rotor Flapping Motion
5-6 Examples of Performance and Flapping in Forward Flight
5-7 Review of Assumptions
5-8 Tip Loss and Root Cutout
5-9 Blade Weight Moment
5-10 Linear Inflow Variation
5-11 Higher Harmonic Flapping Motion
5-12 Profile Power and Radial Flow
5-13 Flap Motion with a Hinge Spring
5-14 Flap Hinge Offset
5-15 Hingeless Rotor
5-16 Gimballed or Teetering Rotor
5-17 Pitch-Flap Coupling
5-18 "Helicopter Force, Moment, and Power Equilibrium"
5-19 Lag Motion
5-20 Reverse Flow
5-21 Compressibility
5-22 Tail Rotor
5-23 Numerical Solutions
5-24 Literature
6. Performance
6-1 Hover Performance
6-1.1 Power Required in Hover and Vertical Flight
6-1.2 Climb and Descent
6-1.3 Power Available
6-2 Forward Flight Performance
6-2.1 Power Required in Forward Flight
6-2.2 Climb and Descent in Forward Flight
6-2.3 D/L Formulation
6-2.4 Rotor Lift and Drag
6-2.5 P/T Formulation
6-3 Helicopter Performance Factors
6-3.1 Hover Performance
6-3.2 Minimum Power Loading in Hover
6-3.3 Power Required in Level Flight
6-3.4 Climb and Descent
6-3.5 Maximum Speed
6-3.6 Maximum Altitude
6-3.7 Range and Endurance
6-4 Other Performance Problems
6-4.1 Power Specified (Autogyro)
6-4.2 Shaft Angle Specified (Tail R
6-5 Improved Performance Calculations
6-6 Literature
7. Design
7-1 Rotor Types
7-2 Helicopter Types
7-3 Preliminary Design
7-4 Helicopter Speed Limitations
7-5 Autorotational Landings after Power Failure
7-6 Helicopter Drag
7-7 Rotor Blade Airfoil Selection
7-8 Rotor Blade Profile Drag
7-9 Literature
8. Mathematics of Rotating Systems
8-1 Fourier Series
8-2 Sum of Harmonics
8-3 Harmonic Analysis
8-4 Fourier Coordinate Transformation
8-4.1 Transformation of the Degrees of Freedom
8-4.2 Conversion of the Equations of Motion
8-5 Eigenvalues and Eigenvectors of the Rotor motion
8-6 "Analysis of Linear, Periodic Systems"
8-6.1 "Linear, Constant Coefficient Equations"
8-6.2 "Linear, Periodic Coefficient Equations"
9. Rotary Wing Dynamics I
9-1 Sturm-Liouville Theory
9-2 Out-of-Plane Motion
9-2.1 Rigid Flapping
9-2.2 Out-of-Plane Bending
9-2.3 Nonrotating Frame
9-2.4 Bending Moments
9-3 In-plane Motion
9-3.1 Rigid Flap and Lag
9-3.2 In-Plane Bending
9-3.3 In-Plane and Out-of-Plane Bending
9-4 Torsional Motion
9-4.1 Rigid Pitch and Flap
9-4.2 Structural Pitch-Flap and Pitch-Lag Coupling
9-4.3 Torsion and Out-of-Plane Bending
9-4.4 Nonrotating Frame
9-5 Hub Reactions
9-5.1 Rotating Loads
9-5.2 Nonrotating Loads
9-6 Shaft Motion
9-7 Coupled Flap-Lag Torsion Motion
9-8 Rotor Blade Bending Modes
9-8.1 Engineering Beam Theory for a Twisted Blade
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10-8.2 Finite-Length Vortex Line Element
10-8.3 Rectangular Vortex Sheet
11. Rotary Wing Aerodynamics II
11-1 Section Aerodynamics
11-2 Flap Motion
11-3 Flap and Lag Motion
11-4 Nonrotating Frame
11-5 Hub Reactions
11-5.1 Rotating Frame
11-5.2 Nonrotating Frame
11-6 Shaft Motion
11-7 Summary
11-8 Pitch and Flap Motion
12. Rotary Wing Dynamics II
12-1 Flapping Dynamics
12-1.1 Rotating Frame
12-1.1.1 Hover Roots
12-1.1.2 Forward Flight Roots
12-1.1.3 Hover Transfer Function
12-1.2 Nonrotating Frame
12-1.2.1 HoverRoots and Modes
12-1.2.2 Hover Transfer Functions
12-1.3 Low Frequency Res
12-1.4 Hub Reactions
12-1.5 Two-Bladed Rotor
12-1.6 Literature
12-2 Flutter
12-2.1 Pitch-Flap Equations
12-2.2 Divergence Instability
12-2.3 Flutter Instability
12-2.4 Other Factors Influencing Pitch-Flap Stability
12-2.4.1 Shed Wake Influence
12-2.4.2 Wake-Excited Flutter
12-2.4.3 Influence of Forward Flight
12-2.4.4 Coupled Blades
12-2.4.5 Additional Degrees of Freedom
12-2.5 Literature
12-3 Flap-Lag Dynamics
12-3.1 Flap-Lag Equations
12-3.2 Articulated Rotors
12-3.3 Hingeless Rotors
12-3.4 Improved Analytical Models
12-3.5 Literature
12-4 Ground Resonance
12-4.1 Ground Resonance Equations
12-4.2 No-Damping Case
12-4.3 Damping Required for Ground Resonance Stability
12-4.4 Two-Bladed Rotor
12-4.5 Literature
12-5 Vibration and Loads
12-5.1 Vibration
12-5.2 Loads
12-5.3 Calculation of Vibration and Loads
12-5.4 Blade Frequencies
12-5.5 Literature
13. Rotary Wing Aerodynamics III
13-1 Rotor Vortex Wake
13-2 Nonuniform Inflow
13-3 Wake Geometry
13-4 Vortex-Induced Loads
13-5 Vortices and Wakes
13-6 Lifting-Surface Theory
13-7 Boundary Layers
14 Helicopter Aeroelasticity
14-1 Aeroelastic Analyses
14-2 Integration of the Equations of Motion
14-3 Literature
15 Stablity and Control
15-1 Control
15-2 Stability
15-3 Flying Qualities in Hover
15-3.1 Equations of Motion
15-3.2 Vertical Dynamics
15-3.3 Yaw Dynamics
15-3.4 Longitudinal Dynamics
15-3.4.1 Equations of Motion
15-3.4.2 Poles and Zeros
15-3.4.3 Loop Closures
15-3.4.4 Hingeless Rotors
15-3.4.5 Response to Control
15-3.4.6 Examples
15-3.4.7 Flying Qualities Characteristics
15-3.5 Lateral Dynamics
15-3.6 Coupled Longitudinal and Lateral Dynamics
15-3.7 Tandem Helicopters
15-4 Flying Qualities in Forward Flight
15-4.1 Equations of Motion
15-4.2 Longitudinal Dynamics
15-4-2.1 Equations of Motion
15-4-2.2 Poles
15-4-2.3 Short Period Approximation
15-4-2.4 Static Stability
15-4-2.5 Ex
15-4-2.6 Flying Qualities Characteristics
15-4.3 Lateral Dynamics
15-4.4 Tandem Helicopters
15-4.5 Hingeless Rotor Helicopters
15-5 Low Frequency Rotor Response
15-6 Stability Augmentation
15-7 Flying Qualities Specifications
15-8 Literature
16 Stall
16-1 Rotary Wing Stall Characteristics
16-2 NACA Stall Research
16-3 Dynamic Stall
16-4 Literature
17 Noise
17-1 Helicopter Rotor Noise
17-2 Vortex Noise
17-3 Rotational Noise
17-3.1 Rotor Pressure Distribution
17-3.2 Hovering Rotor with Steady Loading
17-3.3 Vertical Flight and Steady Loading
17-3.4 Stationary Rotor with Unsteady Loading
17-3.5 Forward Flight and Steady Loading
17-3.6 Forward Flight and Unsteady Loading
17-3.7 Thickness Noise
17-3.8 Rotating Frame Analysis
17-3.9 Doppler Shift
17-4 Blade Slap
17-5 Rotor Noise Reduction
17-6 Literature
Cited Literature
Index

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