Aerodynamics of a rotary wing type aircraft (Helicopter)

Darshak Bhuptani
Author affiliation: B.Tech Aerospace, Indian Institute for Aeronautical Engineering and Information Technology [email protected]

Abstract:
The helicopter is a rotary wing type aircraft which generates the main aerodynamic force by rotating the rotor which hubs the wing and rotates it at a very high speed. As a result of this rotation, the lift for an aircraft is produced at full throttle only. The blades which are used in helicopters are of airfoil shape. The basic terminology and pressure distribution over an airfoil is described in detailed. As there is lift, there is drag force too. The description of the various types of drag force and the amount of the power required to overcome this is mentioned.

The main effect of the rotating wing is that the aircraft tends to rotate in opposite direction that of the rotors and this effect is known as torque. Description of torque and methods to overcome this is entitled below. Due to the motion of any system, there is a vibration associated with it. This tends to induce fatigue stress in the system which can be fatal, so appropriate device should be incorporated with the system so that vibration can be minimised. Various types of blade setting, ground effect, hovering, effective translation lift, blade stall and its effect are discussed.

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Chapter 1 Introduction to basic aerodynamics:

Aerodynamics concerns the motion of air and other gaseous fluids and other forces acting on objects in motion through the air (gases). In effect, Aerodynamics is concerned with the object (aircraft), the movement (Relative Wind), and the air (Atmosphere).

explains at least in part why an airfoil develops an aerodynamic force. All of the forces acting on a surface over which there is a flow of air are the result of skin friction or pressure. Friction forces are the result of viscosity and are confined to a very thin layer of air near the surface. They usually are not dominant and, from the aviator's perspective, can be discounted. As an aid in visualizing what happens to pressure as air flows over an airfoil, it is helpful to consider flow through a tube (Please see Figure above). The concept of conservation of mass states that mass cannot be created or destroyed; so, what goes in one end of the tube must come out the other end. If the flow through a tube is neither accelerating nor decelerating at the input, then the mass of flow per unit of time at Station 1 must equal the mass of flow per unit of time at Station 2, and so on through Station 3. The mass of flow per unit area (cross-sectional area of tube) is called the Mass Flow Rate.

Newton's Laws of Motion

Newton's three laws of motion are: Newtons first law: Inertia - A body at rest will remain at rest. And a body in motion will remain in motion at the same speed and direction until affected by some external force. Nothing starts or stops without an outside force to bring about or prevent motion. Hence, the force with which a body offers resistance to change is called the force of inertia. Newtons second law: Acceleration - The force required to produce a change in motion of a body is directly proportional to its mass and the rate of change in its velocity. Acceleration refers either to an increase or a decrease in velocity, although Deceleration is commonly used to indicate a decrease. Newtons third law: Action / Reaction - For every action there is an equal and opposite reaction. If an interaction occurs between two bodies, equal forces in opposite directions will be imparted to each body.

Fluid flow and Airspeed measurement. (Bernoullis Principle)

Daniel Bernoulli, a Swiss mathematician, stated a principle that describes the relationship between internal fluid pressure and fluid velocity. His principle, essentially a statement of the conversation of energy,

At low flight speeds, air experiences relatively small changes in pressure and negligible changes in density. This airflow is termed incompressible since the air may undergo changes in pressure without apparent changes in density. Such airflow is similar to the flow of water, hydraulic fluid, or any other incompressible fluid. This suggests that between any two points in the tube, the velocity varies inversely with the area. Venturi effect is the name used to describe this phenomenon. Fluid flow speeds up
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through the restricted area of a venturi in direct proportion to the reduction in area. The Figure below suggests what happens to the speed of the flow through the tube discussed.

because the air layers restrict the flow just as did the top half of the venturi tube. As a result, acceleration causes decreased static pressure above the curved shape of the tube. A pressure differential force is generated by the local variation of static and dynamic pressures on the curved surface.

The total energy in a given closed system does not change, but the form of the energy may be altered. The pressure of the flowing air may be likened to energy in that the total pressure of flowing air will always remain constant unless energy is added or taken from the flow. In the previous examples there is no addition or subtraction of energy; therefore the total pressure will remain constant. Fluid flow pressure is made up of two components - Static pressure and dynamic pressure. The Static Pressure is that measured by an aneroid barometer placed in the flow but not moving with the flow. The Dynamic Pressure of the flow is that component of total pressure due to motion of the air. It is difficult to measure directly, but a pitot-static tube measures it indirectly. The sum of these two pressures is total pressure and is measured by allowing the flow to impact against an open-end tube which is Venter to an aneroid barometer. This is the incompressible or slow-speed form of the Bernoulli equation. Static pressure decreases as the velocity increases. This is what happens to air passing over the curved top of an aircraft's airfoil. Consider only the bottom half of a venturi tube in the Figure below. Notice how the shape of the restricted area at Station 2 resembles the top surface of an airfoil. Even when the top half of the venturi tube is taken away, the air still accelerates over the curved shape of the bottom half. This happens

A comparison can be made with water flowing thru a garden hose. Water moving through a hose of constant diameter exerts a uniform pressure on the hose; but if the diameter of a section of the hose in increased or decreased, it is certain to change the pressure of the water at this point. Suppose we were to pinch the hose, thereby constricting the area through which the water flows. Assuming that the same volume of water flows through the constricted portion of the hose in the same period of time as before the hose was pinched, it follows that the speed of flow must increase at that point. If we constrict a portion of the hose, we not only increase the speed of the flow, but we also decrease the pressure at that point. We could achieve like results if we were to introduce streamlined solids (airfoils) at the same point in the hose. This principle is the basis for measuring airspeed (fluid flow) and for analyzing the airfoil's ability to produce lift.

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Chapter 2 Rotary wing plan forms:

Common terms used to describe the helicopter rotor system are shown here. Although there is some variation in systems between different aircraft, the terms shown are generally accepted by most manufacturers. The system below is an example of a Fully Articulated rotor system: The Horizontal Hinge Pin (4) is the axis which permits up and down movement of the blade independent of the other blades in the system. The Trunnion (5) is splined to the mast and has two bearings through which it is secured to the yoke. The blades are mounted to the yoke and are free to teeter (flap) around the trunnion bearings. The Yoke (6) is the structural member to which the blades are attached and which fastens the rotor blades to the mast through the trunnion and trunnion bearings. The Blade Grip Retainer Bearings (7) is the bearing which permits rotation of the blade about its span wise axis so blade pitch can be changed (blade feathering). Blade Twist is a characteristic built into the rotor blade so angle of incidence is less near the tip than at the root. Blade twist helps distribute the lift evenly along the blade by an increased angle of incidence near the root where blade speed is slower. Outboard portions of the blade that travel faster normally have lower angles of incidence, so less lift is concentrated near the blade tip.

Semi rigid Rotor Systems do not have vertical / horizontal hinge pins. Instead, the entire rotor is allowed to teeter or flap by a trunnion bearing that connects the yoke to the mast (this method is commonly used on two blades rotor systems):

The Chord (1) is the longitudinal dimension of an airfoil section, measured from the leading edge to the trailing edge. The Span (2) is the length of the rotor blade from the point of rotation to the tip of the blade. The Vertical Hinge Pin (3) (drag hinge) is the axis which permits fore and aft blade movement independent of the other blades in the system.
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Chapter 3 Airfoils in general:

An Airfoil is a structure, piece, or body designed to obtain a useful reaction upon itself in its motion through the air. An airfoil may be no more than a flat plate (those darned engineers!) but usually it has a cross section carefully contoured in accordance with its intended application or function. Airfoils are applied to aircraft, missiles, or other aerial vehicles for: Sustentation (A Wing or Rotor Blade) For Stability (As a Fin) For Control (A Flight Surface, such as a Rudder) For Thrust (A Propeller or Rotor Blade) Some airfoils combine some of these functions. A helicopter flies for the same basic reason that any conventional aircraft flies, because aerodynamic forces necessary to keep it aloft are produced when air passes about the rotor blades. The rotor blade, or airfoil, is the structure that makes flight possible. Its shape produces lift when it passes through the air. Helicopter blades have airfoil sections designed for a specific set of flight characteristics. Usually the designer must compromise to obtain an airfoil section that has the best flight characteristics for the mission the aircraft will perform. Airfoil sections are of two basic types, symmetrical and non symmetrical. Symmetrical airfoils have identical upper and lower surfaces. They are suited to rotary-wing applications because they have almost no centre of pressure travel. Travel remains relatively constant under varying angles of attack, affording the best lift-drag ratios for the full range of velocities from rotor blade

root to tip. However, the symmetrical airfoil produces less lift than a non symmetrical airfoil and also has relatively undesirable stall characteristics. The helicopter blade (airfoil) must adapt to a wide range of airspeeds and angles of attack during each revolution of the rotor. The symmetrical airfoil delivers acceptable performance under those alternating conditions. Other benefits are lower cost and ease of construction as compared to the non symmetrical airfoil. Non symmetrical (cambered) airfoils may have a wide variety of upper and lower surface designs. The advantages of the non symmetrical airfoil are increased lift-drag ratios and more desirable stall characteristics. Non symmetrical airfoils were not used in earlier helicopters because the centre of pressure location moved too much when angle of attack was changed. When centre of pressure moves, a twisting force is exerted on the rotor blades. Rotor system components had to be designed that would withstand the twisting forces. Recent design processes and new materials used to manufacture rotor systems have partially overcome the problems associated with use of no symmetrical airfoils.

Airfoil Terminology:
Rotary-wing airfoils operate under diverse conditions, because their speeds are a combination of blade rotation and forward movement of the helicopter. An intelligent discussion of the aerodynamic forces affecting rotor blade lift and drag requires knowledge of blade section geometry. Rotor blades are designed with specific geometry that adapts them to the varying conditions of flight. Cross-section shapes of most rotor blades are not the same throughout the span. Shapes are varied along the blade radius to take advantage of the particular airspeed range experienced at each point on the blade, and to help balance the load between the root and tip. The blade may be built with a twist,
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so an airfoil section near the root has a larger pitch angle than a section near the tip.

The airfoil shown in the graphic is a Positive Cambered Airfoil because the mean camber line is located above the chord line. The term "Camber" refers to the curvature of an airfoil to its surfaces. The mean camber of an airfoil may be considered as the curvature of the median line (mean camber line) of the airfoil.

Pressure patterns on the airfoil:

Distribution of pressure over an airfoil section may be a source of an aerodynamic twisting force as well as lift. A typical example is illustrated by the pressure distribution pattern developed by this cambered (non symmetrical) airfoil: The upper surface has pressures distributed which produce the upper surface lift. The lower surface has pressures distributed which produce the lower surface force. Net lift produced by the airfoil is the difference between lift on the upper surface and the force on the lower surface. Net lift is effectively concentrated at a point on the chord called the Centre of Pressure.

The Chord Line (1) is a straight line connecting the leading and trailing edges of the airfoil. The Chord (2) is the length of the chord line from leading edge to trailing edge and is the characteristic longitudinal dimension of an airfoil. The Mean Camber Line (3) is a line drawn halfway between the upper and lower surfaces. The chord line connects the ends of the mean camber line. The shape of the mean camber is important in determining the aerodynamic characteristics of an airfoil section. Maximum Camber (4) (displacement of the mean camber line from the chord line) and where it is located (expressed as fractions or percentages of the basic chord) help to define the shape of the mean camber line. The Maximum Thickness (5) of an airfoil and where it is located (expressed as a percentage of the chord) help define the airfoil shape, and hence its performance. The Leading Edge Radius (6) of the airfoil is the radius of curvature given the leading edge shape.

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When the angle of attack is increased: Upper surface lift increases relative to the lower surface force. Since the two vectors are not located at the same point along the chord line, a twisting force is exerted about the centre of pressure. Centre of pressure also moves along the chord line when angle of attack changes, because the two vectors are separated. This characteristic of non symmetrical airfoils results in undesirable control forces that must be compensated for if the airfoil is used in rotary wing applications.

When the angle of attack is increased to develop positive lift, the vectors remain essentially opposite each other and the twisting force is not exerted. Centre of pressure remains relatively constant even when angle of attack is changed. This is a desirable characteristic for a rotor blade, because it changes angle of attack constantly during each revolution.

Relative wind:
Knowledge of relative wind is particularly essential for an understanding of aerodynamics of rotary-wing flight because relative wind may be composed of multiple components. Relative wind is defined as the airflow relative to an airfoil:

The pressure patterns for symmetrical airfoils are distributed differently than for non symmetrical airfoils:

Upper surface lift and lower surface lift vectors are opposite each other instead of being separated along the chord line as in the cambered airfoil.

Relative wind is created by movement of an airfoil through the air. As an example, consider a person sitting in an automobile on a no-wind day with a hand extended out the window. There is no airflow about the hand since the automobile is not moving. However, if the automobile is driven at 50 miles per hour, the air will flow under and over the hand at 50 miles per hour. A relative wind has been created by moving the hand through the
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air. Relative wind flows in the opposite direction that the hand is moving. The velocity of airflow around the hand in motion is the hand's airspeed. When the helicopter is stationary on a nowind day, Resultant Relative Wind is produced by rotation of the rotor blades. Since the rotor is moving horizontally, the effect is to displace some of the air downward. The blades travel along the same path and pass a given point in rapid succession (a three-bladed system rotating at 320 revolutions per minute passes a given point in the tip-path plane 16 times per second). The graphic illustrates how still air is changed to a column of descending air by rotor blade action:

In this graphic, angle of attack is reduced by induced flow, causing the airfoil to produce less lift:

This flow of air is called an Induced Flow (downwash). It is most predominant at a hover under still wind conditions. Because the rotor system circulates the airflow down through the rotor disk, the rotational relative wind is modified by the induced flow. Airflow from rotation, modified by induced flow, produces the Resultant Relative Wind.

When the helicopter has horizontal motion, the resultant relative wind discussed above is further changed by the helicopter airspeed. Airspeed component of relative wind results from the helicopter moving through the air. It is added to or subtracted from the rotational relative wind, depending on whether the blade is advancing or retreating in relation to the helicopter movement. Induced flow is also modified by introduction of airspeed relative wind. The pattern of air circulation through the disk changes when the aircraft has movement. Generally the downward velocity of induced flow is reduced. The helicopter moves continually into an undisturbed air mass, resulting in less time to develop a vertical airflow pattern. As a result, additional lift is produced from a given blade pitch setting.

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Chapter 4 Centrifugal force:

Helicopter rotor systems depend primarily on rotation to produce relative wind which develops the aerodynamic force required for flight. Because of its rotation and weight, the rotor system is subject to forces and moments peculiar to all rotating masses. One of the forces produced is Centrifugal Force. It is defined as the force that tends to make rotating bodies move away from the centre of rotation. Another force produced in the rotor system is Centripetal Force. It is the force that counteracts centrifugal force by keeping an object a certain radius from the axis of rotation. The rotating blades of a helicopter produce very high centrifugal loads on the rotor head and blade attachment assemblies. As a matter of interest, centrifugal loads may be from 6 to 12 tons at the blade root of two to four passenger helicopters. Larger helicopters may develop up to 40 tons of centrifugal load on each blade root. In rotary-wing aircraft, centrifugal force is the dominant force affecting the rotor system. All other forces act to modify this force. When the rotor blades are at rest, they droop due to their weight and span. In fully articulated systems, they rest against a static or droop stop which prevents the blade from descending so low it will strike the aircraft (or ground!). When the rotor system begins to turn, the blade starts to rise from the static position because of the centrifugal force. At operating speed, the blades extend straight out even though they are at flat pitch and are not producing lift. As the helicopter develops lift during takeoff and flight, the blades rise above the "straight out" position and assume a coned position. Amount of coning depends on RPM, gross weight, and G-Forces experienced during

flight. If RPM is held constant, coning increases as gross weight and G-force increase. If gross weight and G-forces are constant, decreasing RPM will cause increased coning. Excessive coning can occur if RPM gets too low, gross weight is too high, or if excessive G-forces are experienced. Excessive coning can cause undesirable stresses on the blade and a decrease of total lift because of a decrease in effective disk area:

Notice that the effective diameter of the rotor disk with increased coning is less than the diameter of the other disk with less coning. A smaller disk diameter has less potential to produce lift. Centrifugal force and lift effects on the blade can be illustrated best by a vector. First look at a rotor shaft and blade just rotating:

Now look at the same rotor shaft and blade when a vertical force is pushing up on the tip of the blade:

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Forces applied to a spinning rotor disk by control input or by wind gusts will react as follows: This behaviour explains some of the fundamental effects occurring during various helicopter manoeuvres. The vertical force is lift produced when the blades assume a positive angle of attack. The horizontal force is caused by the centrifugal force due to rotation. Since one end of the blade is attached to the rotor shaft, it is not free to move. The other end can move and will assume a position that is the resultant of the forces acting on it:

The blade position is now "coned" and its position is a resultant of the two forces, lift and centrifugal force, acting on it. For example:

Gyroscopic Precession:
Gyroscopic precession is a phenomenon occurring in rotating bodies in which an applied force is manifested 90 degrees later in the direction of rotation from where the force was applied. Although precession is not a dominant force in rotary-wing aerodynamics, it must be reckoned with because turning rotor systems exhibit some of the characteristics of a gyro. The graphic shows how precession affects the rotor disk when force is applied at a given point: A downward force applied to the disk at point A results in a downward change in disk attitude at point B, and an upward force applied at Point C results in an upward change in disk attitude at point D.

The helicopter behaves differently when rolling into a right turn than when rolling into a left turn. During the roll into a left turn, the pilot will have to correct for a nose down tendency in order to maintain altitude. This correction is required because precession causes a nose down tendency and because the tilted disk produces less vertical lift to counteract gravity. Conversely, during the roll into a right turn, precession will cause a nose up tendency while the tilted disk will produce less vertical lift. Pilot input required to maintain altitude is significantly different during a right turn than during a left turn, because gyroscopic precession acts in opposite directions for each.
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Chapter 5 Drag forces:

Drag is simply force that opposes the motion of an aircraft through the air. However it does have separate components that comprise it. Total Drag produced by an aircraft is the sum of the Profile drag, Induced drag, and Parasite drag. Total drag is primarily a function of airspeed. The airspeed that produces the lowest total drag normally determines the aircraft best-rate-of-climb speed, minimum rate-of-descent speed for autorotation, and maximum endurance speed. Profile Drag is the drag incurred from frictional resistance of the blades passing through the air. It does not change significantly with angle of attack of the airfoil section, but increases moderately as airspeed increases. Induced Drag is the drag incurred as a result of production of lift. Higher angles of attack which produce more lift also produce increased induced drag. In rotary-wing aircraft, induced drag decreases with increased aircraft airspeed. The induced drag is the portion of the Total Aerodynamic Force which is oriented in the direction opposing the movement of the airfoil. Parasite Drag is the drag incurred from the non lifting portions of the aircraft. It includes the form drag and skin friction associated with the fuselage, cockpit, engine cowlings, rotor hub, landing gear, and tail boom to mention a few. Parasite drag increases with airspeed. The graphic illustrates the different forms of drag versus airspeed:

Curve "A" shows that parasite drag is very low at slow airspeeds and increases with higher airspeeds. Parasite drag goes up at an increasing rate at airspeeds above the midrange. Curve "B" shows how induced drag decreases as aircraft airspeed increases. At a hover, or at lower airspeeds, induced drag is highest. It decreases as airspeed increases and the helicopter moves into undisturbed air. Curve "C" shows the profile drag curve. Profile drag remains relatively constant throughout the speed range with some increase at the higher airspeeds. Curve "D" shows total drag and represents the sum of the other three curves. It identifies the airspeed range, line "E", at which total drag is lowest. That airspeed is the best airspeed for maximum endurance, best rate of climb, and minimum rate of descent in autorotation.

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Chapter 6 Torque:
In accordance with Newton's law of action and reaction, the helicopter fuselage tends to rotate in the direction opposite to the rotor blades. This effect is called torque. Torque must be counteracted and or controlled before flight is possible. In tandem rotor and coaxial helicopter designs, the rotors turn in opposite directions to neutralize or eliminate torque effects. In tip-jet helicopters, power originates at the blade tip and equal and opposite reaction is against the air; there is no torque between the rotor and the fuselage. However, the torque problem is especially important in single main rotor helicopters with a fuselage mounted power source. The torque effect on the fuselage is a direct result of the work/resistance of the main rotor. Therefore torque is at the geometric centre of the main rotor. Torque results from the rotor being driven by the engine power output. Any change in engine power output brings about a corresponding change in torque effect. Furthermore, power varies with the flight manoeuvre and results in a variable torque effect that must be continually corrected. The Anti-torque Rotor Compensation for torque in the single main rotor helicopter is accomplished by means of a variable pitch anti-torque rotor (tail rotor) located on the end of a tail boom extension at the rear of the fuselage. Driven by the main rotor at a constant ratio, the tail rotor produces thrust in a horizontal plane opposite to torque reaction developed by the main rotor. Since torque effect varies during flight when power changes are made, it is necessary to vary the thrust of the tail rotor. Anti-torque pedals enable the pilot to compensate for torque variance. A significant part of the engine power is required to drive the tail rotor, especially during operations when maximum power is used. From 5 to 30 percent of the available engine power may be

needed to drive the tail rotor depending on helicopter size and design. Normally, larger helicopters use a higher percent of engine power to counteract torque than do smaller aircraft. A helicopter with 9,500 horsepower might require 1,200 horsepower to drive the tail rotor, while a 200 horsepower aircraft might require only 10 horsepower for torque correction. Heading Control In addition to counteracting torque, the tail rotor and its control linkage also permit control of the helicopter heading during flight. Application of more control than is necessary to counteract torque will cause the nose of the helicopter to swing in the direction of pedal movement. To maintain a constant heading at a hover or during takeoff or approach, the pilot must use anti-torque pedals to apply just enough pitch on the tail rotor to neutralize torque and hold a slip if necessary (keeping the aircraft in trim, the tail is not used to turn the helicopter IN forward flight. Heading control in forward trimmed flight is normally accomplished with cyclic control, using a coordinated bank and turn to the desired heading. Application of antitorque pedals will be required when power changes are made. In an autorotation, some degree of right pedal is required to maintain correct trim. When torque is not present, mast thrust bearing friction tends to turn the fuselage in the same direction as main rotor rotation. To counteract this friction, the tail rotor thrust is applied in an opposite direction to counter the frictional forces. Translating Tendency During hovering flight, the single rotor helicopter has a tendency to drift laterally to the right due to the lateral thrust being supplied by the tail rotor. The pilot may prevent right lateral drift of the helicopter by tilting the main rotor disk to the left. This
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lateral tilt results in a main rotor force to the left that compensates for the tail rotor thrust to the right. Helicopter design usually includes one or more features which help the pilot compensate for translating tendency: Flight control rigging may be designed so the rotor disk is tilted slightly left when the cyclic control is cantered. The collective pitch control system may be designed so that the rotor disk tilts slightly left as collective pitch is increased to hover the aircraft. The main transmission may be mounted so that the mast is tilted slightly to the left when the helicopter fuselage is laterally level.

Angle of attack:
c

ANY Airfoil's Angle Of Attack or AOA (4) is an aerodynamic one. It is: The angle between the airfoil chord line and its direction of motion relative to the air (the resulting Relative Wind). Several factors will affect rotor blade AOA. Some are controlled by the pilot and some occur automatically due to the rotor system design. Pilots are able to adjust AOA by moving the cyclic and collective pitch controls. However, even when these controls are held stationary, the AOA constantly changes as the blade moves around the circumference of the rotor disk. Other factors affecting AOA, over which the pilot has little control, are:

Blade Flapping Blade Flexing Wind Gusts / Turbulence AOA is one of the primary factors that determines amount of lift and drag produced by an airfoil. Angle of attack should not be confused with the Angle Of Incidence. Angle of Incidence (or AOI) is the angle between the blade chord line and the plane of rotation of the rotor system. It is a mechanical angle rather than an aerodynamic angle:

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main rotor shaft. An extreme airspeed differential between the blade tip and root is the result. The lift differential between the blade root and tip is even larger because lift varies as the square of the speed. In the absence of induced flow and/or aircraft airspeed, AOA and AOI are equal. Whenever the relative wind is modified (by induced flow / aircraft airspeed), then AOA and AOI diverge becoming unequal. Therefore, when speed is doubled, lift is increased four times. This means that the lift at point "A" would be only one-fourth as much as lift at the blade tip (assuming the rotor airfoil has no blade twist along the span). Because of the potential lift differential along the blade resulting primarily from speed variation, blades are designed with a twist. Blade twist provides a higher pitch angle at the root where speed is low and lower pitch angles nearer the tip where speed is higher. This design helps distribute the lift more evenly along the blade. It increases both the induced air velocity and the blade loading near the inboard section of the blade. This graphic compares a twisted versus an untwisted blades lift:

Rotational velocities in the rotor system:

During hovering, airflow over the rotor blades is produced by rotation of the rotor system. The Graphic shows a two bladed system commonly found:

Blade speed near the main rotor shaft is much less because the distance travelled at the smaller radius is relatively small. At point "A", half way from the rotor shaft to the blade tip, the blade speed is only 198 knots which is one-half the tip speed. The twisted blade generates more lift near the root and less lift at the tip than the untwisted blade.

Speed at any point on the blades varies with the radius or distance from the centre of the
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Dissymmetry of lift:
Dissymmetry of lift is the difference in lift that exists between the advancing half of the rotor disk and the retreating half. It is caused by the fact that in directional flight the aircraft relative wind is added to the rotational relative wind on the advancing blade, and subtracted on the retreating blade. The blade passing the tail and advancing around the right side of the helicopter has an increasing airspeed which reaches maximum at the 3 o'clock position. As the blade continues, the airspeed reduces to essentially rotational airspeed over the nose of the helicopter. Leaving the nose, the blade airspeed progressively decreases and reaches minimum airspeed at the 9 o'clock position. The blade airspeed then increases progressively and again reaches rotational airspeed as it passes over the tail.

Since lift increases as the square of the airspeed, a potential lift variation exists between the advancing and retreating sides of the rotor disk. This lift differential must be compensated for, or the helicopter would not be controllable. To compare the lift of the advancing half of the disk area to the lift of the retreating half, the lift equation can be used. In forward flight, two factors in the lift formula, density ratio and blade area are the same for both the advancing and retreating blades. The airfoil shape is fixed for a given blade. The only remaining variables are changes in blade angle of attack and blade airspeed. These two variables must compensate for each other during forward flight to overcome dissymmetry of lift. Two factors, Rotor RPM and Aircraft Airspeed, control blade airspeed during flight. Both factors are variable to some degree, but must remain within certain operating limits. Angle of attack remains as the one variable that may be used by the pilot to compensate for dissymmetry of lift. The pitch angle of the rotor blades can be varied throughout their range, from flat pitch to the stalling pitch angle, to change angle of attack and to compensate for lift differential. The next graphic shows the relationship between blade pitch angle and blade airspeed during forward flight:

Blade airspeed at the outboard edge of the shaded circle is 0 knots. Within the reverse flow area, the air actually moves over the blade backwards from trailing edge to leading edge. From the reverse flow area out to the blade tip, the blade airspeed progressively increases up to 294 knots. At an aircraft airspeed of 100 knots, a 200 knot blade airspeed differential exists between the advancing and retreating blades.
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Dissymmetry of Lift and the Tail Rotor

The tail rotor also experiences dissymmetry of lift during forward flight, because of its own advancing and retreating blades. Although the plane of rotation is vertical, the effects are the same as for the main rotor in the horizontal plane. Dissymmetry is usually corrected for by a flapping hinge action. Two basic types of flapping hinges, the Delta and Offset. Either can be found on helicopters in the fleet. Note that the delta hinge (b) is not oriented parallel to the blade chord, designed that way so that flapping automatically introduces cyclic feathering which corrects for dissymmetry of lift.

Note that blade pitch angle is lower on the advancing side of the disk to compensate for increased blade airspeed on that side. Blade pitch angle is increased on the retreating blade side to compensate for decreased blade airspeed on that side. These changes in blade pitch are introduced either through the blade feathering mechanism or blade flapping. When made with the blade feathering mechanism, the changes are called Cyclic Feathering. Pitch changes are made to individual blades independent of the others in the system and are controlled by the pilot's cyclic pitch control. The offset hinge is located outboard from the hub and uses centrifugal force to produce substantial forces that act on the hub itself. One important advantage of offset hinges is
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the presence of control regardless of lift condition, since centrifugal force is independent of lift.

Blade flapping:
Blade Flapping is the up and down movement of a rotor blade, which, in conjunction with cyclic feathering, causes Dissymmetry of Lift to be eliminated. The advancing blade, upon meeting the progressively higher airspeeds brought about by the addition of forward flight velocity to the rotational airspeed (of the rotor), responds to the increase of speed by producing more lift. The blade flaps (or climbs) upward, and the change in relative wind and angle of attack reduces the amount that would have been generated.

understandable that the maximum upward flapping velocity will take place directly over the right side of the helicopter, and the maximum downward flapping velocity takes place directly over the left side of the helicopter. (This discussion assumes counter clockwise blade rotation, for clockwise rotation, they are reversed) The flapping velocities are at maximum values directly over the right and left sides of the helicopter, because at those locations the airspeed differential is at its maximum. In the study of cyclic pitch, in a dynamic system such as a main rotor system with inertia, there is a phase angle between the maximum applied force and the maximum displacement. The force-displacement phase is 90 degrees, and is not affected by blade mass or any kind of air dampening. It then follows that if the maximum upward and flapping velocity is directly over the right side of the helicopter, the maximum displacement or actual flapping will take place over the nose of the aircraft. Conversely, if the maximum downward flapping velocity is directly over the left side of the helicopter, the maximum displacement or actual flapping will take place over the tail of the aircraft. The following graphic illustrates this relationship:

In the case of the retreating blade, the opposite is true:

As it loses airspeed, reducing lift causes it to flap down (or settle), thus changing its relative wind and angle of attack. The resulting larger angle of attack retains the lift that would have been lost because of the reduced airspeed. Flapping Velocity Flapping Velocity, both upward and downward, must be of such a value as to increase or decrease the angle of attack so that the lift will remain constant. It is
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The total result of this action is a rotor tilt to the rear which is completely independent of any additional cyclic stick action and which causes an angular separation between the control axis and the thrust axis of the rotor. There is yet another periodic force with a phase-displacement angular separation of 90 degrees. This one arises from periodic longitudinal forces which result from rotor coning while the helicopter is in directional flight and causes the rotor to tilt to the side.

From the above graphic it may be seen that the relative wind created by the helicopter's forward flight causes angle of attack differences between the front and rear of the rotor. The blade over the nose of the helicopter experiences an increase in angle of attack because the aircraft relative wind approaches the blade level with or below its span. The blade over the rear of the helicopter experiences a reduced angle of attack because the aircraft relative wind approaches it from above.

The above graphic shows that the higher angle of attack at the front of the rotor will cause the blade to flap up over the left side of the helicopter. The lower angle of attack over the rear of the rotor will cause the blade to flap down over the right side. The rotor will thus be tilted a little to the right. The sideward tilt of the rotor is increased at low forward speeds when the induced velocities are large, because the inflow not only approaches the rear of the rotor but, additionally, is bent downward. This increases the angle of attack differences.

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Chapter 6 Transverse flow effect:

In forward flight, air passing through the rear portion of the rotor disk has a greater downwash angle than air passing through the forward portion. This is due to that air being accelerated for a longer period of time as it travels to the rear of the rotor system.

You can recognize transverse flow effect because of increased vibrations of the helicopter at airspeeds just below effective translational lift (ETL) on takeoff and just passing through ETL during landing. To counteract transverse flow effect, a cyclic input will be needed to correct the rolling tendency.

The downward flow at the rear of the rotor disk causes a reduced angle of attack, resulting in less lift. Increased angle of attack and more lift is produced at the front portion of the disk because airflow is more horizontal. These differences between the fore and aft parts of the rotor disk are called transverse flow effect. They cause unequal drag in the fore and aft parts of the disk resulting in vibrations that are easily recognizable by the pilot. The vibrations are more noticeable for most helicopters between 10 and 20 knots. So, what does this mean to us pilots? Well, the result is a tendency for the helicopter to roll slightly to the Right as it accelerates through approximately 20 knots or if the headwind is approximately 20 knots. (Assuming a counter clockwise main rotor rotation, reverse for a clockwise rotation).
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Chapter 7 Ground effect:

Ground Effect is a condition of improved performance encountered when operating near (within 1/2 rotor diameter) of the ground. It is due to the interference of the surface with the airflow pattern of the rotor system, and it is more pronounced the nearer the ground is approached. Increased blade efficiency while operating in ground effect is due to two separate and distinct phenomena. The high power requirement needed to hover out of ground effect is reduced when operating in ground effect. First and most important is the reduction of the velocity of the induced airflow. Since the ground interrupts the airflow under the helicopter, the entire flow is altered. This reduces downward velocity of the induced flow. The result is less induced drag and a more vertical lift vector. The lift needed to sustain a hover can be produced with a reduced angle of attack and less power because of the more vertical lift vector: When operating in ground effect, the downward and outward airflow pattern tends to restrict vortex generation. This makes the outboard portion of the rotor blade more efficient and reduces overall system turbulence caused by ingestion and recirculation of the vortex swirls. Rotor efficiency is increased by ground effect up to a height of about one rotor diameter for most helicopters. This graphic displays the percent increase in rotor thrust experienced at various rotor heights:

At a rotor height of one-half rotor diameter, the thrust is increased about 7 percent. At rotor heights above one rotor diameter, the thrust increase is small and decreases to zero at a height of about 1 1/4 rotor diameters. Maximum ground effect is accomplished when hovering over smooth paved surfaces. While hovering over tall grass, rough terrain, revetments, or water, ground effect may be seriously reduced. This phenomenon is due to the partial breakdown and cancellation of ground effect and the return of large vortex patterns with increased downwash angles. Two identical airfoils with equal blade pitch angles are compared graphically:
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The second phenomenon is a reduction of the Rotor Tip Vortex:

The top airfoil is out-of-ground-effect while the bottom airfoil is in-ground-effect. The airfoil that is in-ground-effect is more efficient because it operates at a larger angle of attack and produces a more vertical lift vector. Its increased efficiency results from a smaller downward induced wind velocity which increases angle of attack. The airfoil operating out-of-ground-effect is less efficient because of increased induced wind velocity which reduces angle of attack.

velocity, an increase of blade pitch (angle of attack) would induce the necessary lift for a hover. The forces of lift and weight reach a state of balance during a stationary hover. Hovering is actually an element of vertical flight. Assuming a no-wind condition, the tippath plane of the blades will remain horizontal. If the angle of attack of the blades is increased while their velocity remains constant, additional vertical thrust is obtained. Thus, by upsetting the vertical balance of forces, helicopters can climb or descend vertically. Airflow in the Hover At a hover, the rotor tip vortex (air swirling around the blade tip from above to below) reduces the effectiveness of the outer blade portions. Also, the vortexes of the preceding blade severely affect the lift of the following blades. If the vortex made by one passing blade remains a vicious swirl for some number of seconds, then two blades operating at 350 RPM create 700 long lasting

If a helicopter hovering out-of-ground-effect descends into a ground-effect hover, blade efficiency increases because of the more favourable induced flow. As efficiency of the rotor system increases, the pilot reduces blade pitch angle to remain in the groundeffect hover. Less power is required to maintain however in-ground-effect than for the out-of-ground-effect hover.

The Hover:
Hovering is the term applied when a helicopter maintains a constant position at a selected point, usually a few feet above the ground (but not always, helicopters can hover high in the air, given sufficient power). For a helicopter to hover, the main rotor must supply lift equal to the total weight of the helicopter. With the blades rotating at high

Vortex patterns per minute. This continuous creation of new vortexes and ingestion of existing vortexes is a primary cause of high power requirements for hovering. During hover, the rotor blades move large volumes of air in a downward direction. This
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pumping process uses lots of horsepower and accelerates the air to relatively high velocities. Air velocity under the helicopter may reach 60 to 100 knots, depending on the size of the rotor and the gross weight of the helicopter. This is the air flow around a hovering helicopter (Note it is out of ground effect):

efficiency of the rotor system and improve aircraft performance. Improved rotor efficiency resulting from these changes is termed Effective Translational Lift (or ETL). The graphic shows an airflow pattern at airspeeds between 1-5 knots:

Note how the downwash (induced flow) of air has introduced another element into the relative wind which alters the angle of attack of the airfoil. When there is no induced flow, the relative wind is opposite and parallel to the flight path of the airfoil. In the hovering case, the downward airflow alters the relative wind and changes the angle of attack so less aerodynamic force is produced. This condition requires the pilot to increase collective pitch to produce enough aerodynamic force to sustain a hover. Although this does increase the lift, it also increases the induced drag, and so total power required is higher

Note how the downwind vortex is beginning to dissipate and induced flow down through the rear of the rotor disk is more horizontal than at a hover. This graphic below shows the airflow pattern at a speed of 10-15 knots. Airflow is much more horizontal than at a hover. The leading edge of the downwash pattern is being overrun and is well back under the helicopter nose. At about 16 to 24 knots (depending upon the size, blade area, and RPM of the rotor system) the rotor completely outruns the recirculation of old vortexes, and begins to work in relatively clean air:

Effective translation lift:

The efficiency of the hovering rotor system is improved with each knot of incoming wind gained by horizontal movement or surface wind. As the incoming wind enters the rotor system, turbulence and vortexes are left behind and the flow of air becomes more horizontal. All of these changes improve the

The air passing through the rotor system is nearly horizontal, depending on helicopter forward air speed.

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As the helicopter speed increases, ETL becomes more effective and causes the nose to rise, or pitch up (sometimes called blowback). This tendency is caused by the combined effects of dissymmetry of lift and transverse flow effect. Pilots must correct for this tendency in order to maintain a constant rotor disk attitude that will move the helicopter through the speed range where blowback occurs. If the nose is permitted to pitch up while passing through this speed range, the aircraft may also tend to roll to the right. When the single main rotor helicopter transitions from hover to forward flight, the tail rotor becomes more aerodynamically efficient. Efficiency increases because the tail rotor works in progressively less turbulent air as speed increases. As tail rotor efficiency improves, more thrust is produced. This causes the aircraft nose to yaw left if the main rotor turns counter clockwise. During a takeoff where power is constant, the pilot must apply right pedal as speed increases to correct for the left yaw tendency.

As forward airspeed increases, the "no lift" areas move left of centre, covering more of the retreating blade sectors: This requires more lift at the outer retreating blade portions to compensate for the loss of lift of the inboard retreating sections. In the area of reversed flow, the rotational velocity of this blade section is slower than the aircraft airspeed; therefore, the air flows from the trailing to leading edge of the airfoil. In the negative stall area, the rotational velocity of the airfoil is faster than the aircraft airspeed; therefore air flows from leading to trailing edge of the blade. However due to the relative arm and induced flow, blade flapping is not sufficient to produce a positive angle of attack. Blade flapping and

Retreating blade stall:

A tendency for the retreating blade to stall in forward flight is inherent in all present day helicopters and is a major factor in limiting their forward speed. Just as the stall of an airplane wing limits the low speed possibilities of the airplane, the stall of a rotor blade limits the high speed potential of a helicopter. The airspeed of the retreating blade (the blade moving away from the direction of flight) slows down as forward speed increases. The retreating blade must, however, produce an amount of lift equal to that of the advancing blade. Therefore, as the airspeed of the retreating blade decreases with forward aircraft speed, the blade angle of attack must be increased to equalize lift throughout the rotor disk area. As this angle increase is continued, the blade will stall at some high forward speed. Rotational velocity in the negative lift area is sufficient to produce a positive angle of attack, but not to a degree that produces appreciable lift. This graphic depicts a rotor disk that has reached a stall condition on the retreating side:

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The Helicopter Will Roll Into The Stalled Side, (Dependent Upon Rotor Direction Of Rotation. When operating at high forward airspeeds, the following conditions are most likely to produce blade stall: High Blade loading (high gross weight) Low Rotor RPM High Density Altitude Steep or Abrupt Turns It is assumed that the stall angle of attack for this rotor system is 14 degrees. Distribution of angle of attack along the blade is shown at eight positions in the rotor disk. Although the blades are twisted and have less pitch at the tip than at the root, angle of attack is higher at the tip because of induced airflow. Upon entry into blade stall, the first effect is generally a noticeable vibration of the helicopter. This is followed by a rolling tendency and a tendency for the nose to pitch up. The tendency to pitch up may be relatively insignificant for helicopters with semi rigid rotor systems due to pendulum action. If the cyclic stick is held forward and collective pitch is not reduced or is increased, this condition becomes aggravated; the vibration greatly increases, and control may be lost. By being familiar with the conditions which lead to blade stall, the pilot should realize when his is flying under such circumstances and should take corrective action. The major warnings of approaching retreating blade stall conditions are: Abnormal Vibration Nose Pitch up Turbulent Air When flight conditions are such that blade stall is likely, extreme caution should be exercised when manoeuvring. An abrupt manoeuvre such as a steep turn or pull up may result in dangerously severe blade stall. Aircraft control and structural limitations of the helicopter would be threatened. Blade stall normally occurs when airspeed is high. To prevent blade stall, the pilot must fly slower than normal when: The Density Altitude is much Higher than Standard Carrying Maximum Weight Loads Flying high drag configurations such as floats, external stores, weapons, speakers, floodlights, sling loads, etc. The Air is Turbulent When the pilot suspects blade stall, he can possibly prevent it from occurring by sequentially: Reducing Power (collective pitch) Reducing Airspeed
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Reducing "G" Loads during Manoeuvring Increasing Rotor RPM to Max Allowable Limit Checking Pedal Trim In severe blade stall, the pilot loses control. The helicopter will pitch up violently and roll to the left. The only corrective action then is to accomplish procedures as indicated previously to shorten the duration of the stall and regain control.

causes loss of rotor efficiency even though power is still supplied from the engine. This graphic shows induced flow along the blade span during normal hovering flight:

Downward velocity is highest at the blade tip where blade airspeed is highest.

Settling with power:

Settling with Power is a condition of powered flight where the helicopter settles into its own downwash. It is also known as Vortex Ring State. Conditions conducive to settling with power are a vertical or nearly vertical descent of at least 300 feet per minute and low forward airspeed. The rotor system must also be using some of the available engine power (from 20 to 100 percent) with insufficient power available to retard the sink rate. These conditions occur during approaches with a tailwind or during formation approaches when some aircraft are flying in turbulence from other aircraft. Under the conditions described above, the helicopter may descend at a high rate which exceeds the normal downward induced flow rate of the inner blade sections. As a result, the airflow of the inner blade sections is upward relative to the disk. This produces a secondary vortex ring in addition to the normal tip vortex system. The secondary vortex ring is generated about the point on the blade where airflow changes from up to down. The result is an unsteady turbulent flow over a large area of the disk which

As blade airspeed decreases nearer the disk centre, downward velocity is less. This graphic show induced airflow velocity pattern along the blade span during a descent conducive to settling with power:

The descent is so rapid that induced flow at the inner portion of the blades is upward rather than downward. The up flow caused by the descent has overcome the down flow produced by blade rotation. If the helicopter descends under these conditions, with insufficient power to slow or stop the descent, it will enter vortex ring state:

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The vortex ring state can be completely avoided by descending on flight paths shallower than about 30 degrees (at any speed). For steeper approaches, vortex ring state can be avoided by using a speed either faster or slower than the area of severe turbulence and thrust variation. At very shallow angles of descent, the vortex ring wake is shed behind the helicopter. At steep angles, the vortex ring wake is below the helicopter at slow rates of descent and above the helicopter at high rates of descent.

excess power. During the early stages of power settling, the large amount of excess power may be sufficient to overcome the up flow near the centre of the rotor. If the sink rate reaches a higher rate, power will not be available to break this up flow, and thus alter the vortex ring state of flow. Normal tendency is for pilots to recover from a descent by application of collective pitch and power. If insufficient power is available for recovery, this action may aggravate power settling resulting in more turbulence and a higher rate of descent. Recovery can be accomplished by lowering collective pitch and increasing forward speed. Both of these methods of recovery require altitude to be successful.

Hazards of rotating helicopters rotor blades:

It is particularly tragic that rotor blade (and tail rotor blade) strike mishaps, along with airmen, have included bystanders, passengers, and children among the injured persons. Rotor strike mishaps differ from other aircraft mishaps in that they usually result in fatal or serious injury. This is due to the fact that a rotor rotating under power, even at slow speed, has sufficient force to inflict serious injury. It should be remembered that a rotating rotor is extremely dangerous and should be treated with all due caution.

This graphic shows the horizontal speed versus vertical speed relationship for a typical helicopter in a descent. Straight lines emanating from the upper left corner are lines of constant descent angle. Superimposed on this grid are flow state regions for the typical helicopter. From this, several conclusions regarding vortex ring state can be made: Power settling is an unstable condition. If allowed to continue, the sink rate will reach sufficient proportions for the flow to be entirely up through the rotor system. If continued, the rate of descent will reach extremely high rates. Recovery may be initiated during the early stages of power settling by putting on a large amount of

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Chapter 8
Conspicuity: The rotor is difficult to see when in operation, and the nonprofessional public is often not aware of its danger. Even personnel familiar with the danger of a turning rotor are likely to forget it. 1. Some manufacturers of rotor blades use paint schemes to increase the conspicuity of the blades. Owners should give strong consideration to maintaining the conspicuity paint scheme of the original manufacturer. 2. In the event that the paint scheme does not lend itself to conspicuity, the owner should consider having the blade repainted. A customized paint scheme should not be used until an evaluation is made by a person qualified to determine that it will not interfere with the pilot's visibility, promote vertigo, or create an unbalanced blade condition. 3. In August of 1978, the FAA issued Report No. FAA-AM-78-29, Conspicuity Assessment of Selected Propeller and Tail Rotor Paint Schemes. The report summarizes the evaluation of three paint schemes for airplane propellers and two for helicopter tail rotor blades. The document is available to the public through the National Technical Information Service, Springfield, Virginia 22161. In-Flight Crew Personnel: Persons directly involved with enplaning or deplaning passengers and aircraft servicing should be instructed as to their specific duties through proper training, with emphasis placed on the dangers of rotating rotors. Ramp attendants and passenger handling personnel should be made aware of the proper procedures and methods of directing passengers to and from parked aircraft. The following safety measures should be

considered to help prevent accidents on airport ramp areas: 1. when the possibility of passengers wandering on the ramp exists, physical barriers should be provided such as rope stanchions from the aircraft to the terminal doors. 2. Airport management personnel should be on the alert to keep unauthorized persons from milling around on ramps among parked aircraft. When spectators are permitted to view and move among aircraft parked on a ramp, the airport management personnel should caution those persons to stay clear of all propellers and not touch or move them. 3. Helicopter landing and ramp areas should be marked and provided with safety barriers to restrict access by unauthorized persons. 4. Tail rotor danger areas should be clearly marked on ramp areas. Helicopters should be parked with tail rotors within the marked area.

Aircraft Service Personnel: Persons directly involved with aircraft service are most vulnerable to injuries by rotors. Working around aircraft places them in the most likely position for possible rotor strike mishaps. Aircraft service personnel should develop the following safety habits: 1. Treat all rotors as if they were turning, remain clear of the rotor arcs. 2. Remember when removing an external power source from an aircraft, keep the equipment and yourself clear of the rotor. 3. Always stand clear of rotor blade paths
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(rotor arc's), especially when moving the rotor. Particular caution should be practiced around warm engines. 4. Ground personnel should be given recurrent rotor safety lectures to keep them alert to dangers when working around helicopters. 5. Be sure all equipment and personnel are clear of an aircraft before giving the pilot the signal to depart.

rotor blades. Safety through education is the best and most positive means available for reducing potential mishaps from blade strikes. 5. The prestart portion of the checklist should include an item to make sure the rotor blades are clear. The proper use of the aircraft checklist should be taught to all student pilots.

In Summary: In reviewing rotor blade strike mishaps, the most impressive fact is that every one of them was preventable. The danger of rotor blade strikes is universally recognized. The pilot can be most effective in ensuring that his or her passengers arrive and depart the vicinity of the helicopter safely by stopping the engine / rotor system completely at the time of loading and unloading, or by providing a definite means of keeping them clear of the rotors if they are left in motion. Prominent warning signs, placed in the aircraft's interior near or on the inside face of the aircraft doors to alert passengers and crewmembers of rotor hazards, could be helpful in preventing a mishap.

Flight Personnel / Flight Instructors (CFI's): Prior to starting an engine, flight personnel should make certain that all personnel are clear of the rotor. 1. The engine of a helicopter should be shut down (and rotor stopped / rotor brake engaged if equipped) before boarding or deplaning passengers. This is the simplest method of avoiding mishaps. 2. Boarding or deplaning of passengers, with an engine running, should only be allowed under close supervision. The pilot in command should have knowledge that either the company or the airport operator has ground attendants fully trained in their specific duties to board or deplane passengers from an aircraft with an engine(s) running / rotors spinning. The pilot should instruct passengers, before they exit an aircraft with an engine(s) running / rotors spinning, the path to follow to avoid the rotor blades. 3. When it is necessary to discharge a passenger from an aircraft on which the engine is running / rotors spinning, never have the aircraft with the tail rotor in the path of the passenger's route from the aircraft. 4. When flight and ground instructors are instructing their students about rotors, they should emphasize the dangers of rotating

References:
www.ultraligero.net/ www.dynamicflight.com/aerodynamics www.cybercom.net/~copters/helo_aero.html www.cambridge.org/catalogue/catalogue.asp?isb n=0521858607 www.knovel.com/web/portal/browse/display www.helicopterpage.com www.pruftechnik.com www.aedie.org/11chlie-papers/217-pelaez Page | 28