aerospace

Article
A Six Degrees of Freedom Dynamic
Wire-Driven Traverse
Thomas J. Lambert, Bojan Vukasinovic * and Ari Glezer
Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405, USA;
tlambert6@gatech.edu (T.J.L.); ari.glezer@me.gatech.edu (A.G.)
* Correspondence: bojan.vukasinovic@me.gatech.edu; Tel.: +1-404-385-1889

Academic Editor: Raffaello Mariani

Received: 3 February 2016; Accepted: 5 April 2016; Published: 14 April 2016

Abstract: A novel support mechanism for a wind tunnel model is designed, built, and demonstrated
on an aerodynamic platform undergoing dynamic maneuvers, tested with periodic motions up to
20 Hz. The platform is supported by a 6-DOF (six degrees of freedom) traverse that utilizes eight
thin wires, each mounted to a servo motor with an in-line load cell to accurately monitor or control
the platform motion and force responses. The system is designed such that simultaneous control of
the servo motors effects motion within ˘50 mm translations, ˘15˝ pitch, ˘9˝ yaw, and ˘8˝ roll at
lower frequencies. The traverse tracks a desired trajectory and resolves the induced forces on the
platform at 1 kHz. The effected motion of the platform is measured at 0.6 kHz with a motion capture
system, which utilizes six near-infrared (NIR) cameras for full spatial and temporal resolution of the
platform motion, which is used for feedback control. The traverse allows different platform model
geometries to be tested, and the present work demonstrates its capabilities on an axisymmetric bluff
body. Programmable timed outputs are synchronized relative to the model motion and can be used
for triggering external systems and processes. In the present study, particle image velocimetry (PIV)
is used to characterize the realized wakes of the platform undergoing canonical motions that are
effected by this new wind tunnel traverse.

Keywords: model support; 6-DOF; wind tunnel testing; aerodynamics; wakes

1. Introduction
An inherent difficulty with wind tunnel investigations of nominally “free” aerodynamic bodies is
related to their mounting in the tunnel test section. Ideally, the model support should cause little or
no aerodynamic interference (such as a magnetic-force support [1,2]), but most conventional support
systems have relied on some form of a rigid connection that can interfere with the flow around the
body and especially in its wake. The most common model support in wind tunnels is of a sting type
(e.g., Achenbach [3]) that is typically connected to either aft or a side of the model. Another related
support approach is by utilization of struts (e.g., Taylor et al. [4,5]), while the least common is a wire
support (e.g., Griffin et al. [6]), which is usually restricted to low flow speeds. In a case where a model
is desired to realize multiple degrees of freedom motion, a combination of sting and strut supports are
often needed (e.g., Pattinson et al. [7]). Furthermore, there is a prevailing interest in model support
interference with the “true” flow dynamics for transonic and supersonic flow regimes (see an extensive
bibliography presented by Tuttle and Gloss [8]). This interference is primarily caused by the physical
presence of a model support within the model wake, preventing its full development, and the shed
vortices off the support structure that may interfere with the vortices naturally shed off the model.
These problems have been recognized from early stages of wind tunnel testing (e.g., Bacon [9]), and
different methods for either calibration or correction for the support interference have been proposed
since about a hundred years ago.

Aerospace 2016, 3, 11; doi:10.3390/aerospace3020011 www.mdpi.com/journal/aerospace

Aerospace 2016, 3, 11 2 of 16

As can be expected, support interference problems become exacerbated if the model support is
to impose dynamic motion on the model. An extensive review of support interference in dynamic
wind tunnel tests was presented by Ericsson and Reding [10], outlining a practical guideline for
best practices in minimization of the support interference under specific flow regimes and model
geometries. Beyers [11] pointed to the coupled interference of the support structure at the tunnel
walls in the dynamic testing that precludes existence of any analytical corrections. He suggested that
dynamic interference could be effectively eliminated in a case of rotary balance testing.
The current study extends the methodology for a thin wire support, aimed at minimizing flow
interference with a traverse that can affect dynamic motion of a wind tunnel model at low flow
speeds, and is primarily influenced by earlier studies of Abramson et al. [12,13] and Lambert et al. [14].
The present work investigates a wire-mounted body on a programmable six degrees of freedom
(6-DOF) (x/y/z-translation and roll/pitch/yaw) eight-wire traverse that is electromechanically driven
by a dedicated feedback controller to remove the parasitic mass and inertia of the dynamic support
system and of the model. This traverse is designed to support any model with eight mounting points,
aimed at estimating the aerodynamic force that the model without any support would experience,
given: (1) The flow is not in the transitional speed range, where the wires’ wake could alter the
flow’s transition to turbulence; and (2) The minimum length scale of the model is at least an order
of magnitude larger than the diameter of the support wires to ensure decoupling of their respective
vortex shedding.
For demonstration, an axisymmetric body is used for the purpose of illustrating the control
authority of the current developed traverse system.

2. Experimental Methodologies

2.1. Physical Traverse Components

This traverse is designed as an add on to an open-return wind tunnel at Georgia Tech having a
test section that measures 91 cm ˆ 91 cm and a maximum speed of 40 m/s, and is also designed such
that it can be incorporated and removed from the tunnel, if desired. The support mechanism uses
multiple strands of wire rope (aircraft cables) to suspend an aerodynamic platform inside the wind
tunnel, and is shown in Figure 1a. The wire ropes have a very small cross-sectional area of 1.13 mm2
and they have low blockage, thus minimizing local acceleration of the airstreams in the vicinity of
the model. Theoretically, only six wire ropes would be required for a statically-determinate support
of the model. However, the geometry of the wind tunnel and the desire to keep the wire rope and
actuators near the corners of the tunnel cross-section led towards an over-constrained support by
eight wire ropes. The end of each wire rope is fastened to a servo actuator (YASKAWA SGMAV-10A,
having peak torque of 9.55 N¨ m at a 6000 rpm peak), through a driving pulley. Each servo actuator
is mounted outside of the tunnel and dynamically feeds a wire rope inward or outward to alter the
position and orientation of the suspended aerodynamic platform. The corner flanges of the wind
tunnel are modified to provide eight small openings with enough clearance to accommodate the
desired range of wire motion and therefore model motion. It is noted that the motor locations are
spaced vertically by 120 cm, horizontally by 128 cm, and streamwise by 176 cm, where these locations
are chosen for convenience and can be optimized for future performance objectives, if necessary. All of
the driving pulleys have a secondary attachment to an extension spring (with a constant of 208.4 N/m)
that provides a preload tension on each wire when the model is in equilibrium (for the current case
study, the preload is approximately 60 N). The tension in each mounting wire is measured using an
inline miniature load cell (FUTEK FSH00097, with a range of 0–110 N, a non-repeatability of 0.055 N,
and a mass of 0.02 kg). The temporal response of the raw load cell signals is on the order of 10 kHz, but
these signals are pre-filtered and sampled at a rate of 1 kHz to match the controller rate (see Section 2.4).
Figure 1b shows one constructed servo actuator assembly, with labeled components, as all eight servo
actuator assemblies are identical.
Aerospace 2016, 3, 11 3 of 16
Aerospace 2016, 3, 11 3 of 16

Aerospace 2016, 3, 11 3 of 16

Figure
Figure 1. Computer-aided
1. Computer-aided design
design (CAD)
(CAD) model
model of of
thethe 6-DOF
6-DOF (six(six degrees
degrees of of freedom)
freedom) traverse
traverse (a);(a);
and
and a model of a servo motor assembly
a model of a servo motor assembly (b). (b).
Figure 1. Computer-aided design (CAD) model of the 6-DOF (six degrees of freedom) traverse (a);
During
and athe
the system
model
design
of a servo
phase,
motorphase,
assembly
several
(b).
different types of motor actuators were considered for
During system design several different types of motor actuators were considered
this application. Gear motor actuators could provide more output torque than the direct-drive
for this application. Gear motor actuators could provide more output torque than the direct-drive
configuration,
During the butsystem
they would
designhave
phase, too muchdifferent
several inertia to meet
types ofthe dynamic
motor actuatorsresponse goals. All for
were considered types
configuration, but they would have too much inertia to meet the dynamic response goals. All types
of this
linear actuators examined
application. Gear motor had limitations
actuators could with response
provide morespeed or maximum
output torque than achievable wire rope
the direct-drive
of linear
tension, actuators
where the
configuration,
examined
butdesign
hadhave
goals
they would
limitations
for motion
too much
with
are 50response speedmotions
Hztocontrolled
inertia
or maximum
meet the dynamic of model
response
achievable wire
deflections
goals.
rope
of up
All types
tension, where
to of5 linear
mm, and the
actuators design
wireexamined goals
tensions had for
of up motion
limitations
to 110 N. are
with 50 Hz
A response controlled
vane-type speed motions
or maximum
hydraulic of model
rotaryachievable deflections
actuator wire
would ropebe aof
up compact,
totension,
5 mm,high and torque,
where wire tensions
the design
and goals
high offor
upmotion
to 110rate
response N.50
are AHz vane-type
solution, but ithydraulic
controlled ofrotary
motionsrequire
would modela actuator
deflections
hydraulic would
of up be a
reservoir
compact,
to 5 high
mm, torque,
and wire and high
tensions ofresponse
up to 110 rate
N. solution,
A vane-type but it would
hydraulic
and pressurization system, and it was deemed less applicable compared to the realized rotary require
rotary a hydraulic
actuator would reservoir
beservo
a
compact,
andactuator
pressurization high torque,
shown insystem, and
Figure 1b, high response
andalthough
it was deemed rate
it wouldless solution, but
alsoapplicable it would
achieve allcompared require
of the design a
to thehydraulic reservoir
realized rotary servo
goals.
and shown
actuator pressurization
in Figure system, and it wasitdeemed
1b, although would less alsoapplicable
achieve all compared to the realized
of the design goals. rotary servo
actuator
2.2. MotionshownCapture inSystem
Figure 1b, although it would also achieve all of the design goals.
2.2. Motion Capture System
2.2.The
Motionprimary
Capturegoal Systemof this traverse is to achieve accurate real time motion control of an
The primaryplatform
aerodynamic goal of this traverse
with is to achieve
disturbance accurate
rejection. real time
A VICON MXmotion
Motion control
Capture of anSystem
aerodynamic
was
The primary goal of this traverse is to achieve accurate real time motion control of an
platform
acquired withfordisturbance
measuring the rejection.
spatially-A VICON MX Motion Capture
and temporally-resolved System
motion was
of the acquired for model
wire-mounted measuringin
aerodynamic platform with disturbance rejection. A VICON MX Motion Capture System was
thethe wind tunnel
spatially- and (Figure 2). This system
temporally-resolved motion consists
of the of: (1) six MX-T40S
wire-mounted model
acquired for measuring the spatially- and temporally-resolved motion of the wire-mounted model in
cameras,
in the each
wind with a 12.5
tunnel mm2).
(Figure
Thislens (capable
system
the wind
of upof:to(1)
consists
tunnel (Figure
515 fps
six at full frame,
2). MX-T40S
This system cameras, and of:
consistseach
2000 fps
with
(1)
with
a 12.5a mm
six MX-T40S
limited
lensview),
cameras, (capablean electronic
each with of up to 515
a 12.5
freeze
mmfps at
fullframe
frame, shutter,
and 2000
lens (capable and
of up atoresolution
fps with at of
full4 frame,
a limited
515 fps megapixels;
view), (2)fps
an electronic
and 2000 a MX-Giganet
freeze
with frame
a limited interface anofelectronic
shutter,
view), the a
and cameras
freezeto aof
resolution
camera
frame shutter, and a resolution of 4 megapixels; (2) a MX-Giganet interface of the cameras Tracker
4 megapixels; host computer
(2) a (provides
MX-Giganet power,
interface synchronization,
of the cameras toand
a data
camera transfer);
host and
computer (3) VICON
(provides to power,
a
2.0 Software for
camera host computer
synchronization, low latency
and data (provides data streaming
transfer); power, to the
and (3)synchronization, traverse
VICON Trackerand controller
2.0 data computer.
transfer);
Software and latency
for low (3) VICON Tracker
data streaming
to the2.0 Software
traverse for low latency
controller data streaming to the traverse controller computer.
computer.

Figure
Figure2.2.Schematics
Schematics(a) and images (b) of
of the
themotion
motion analysissystem
system camera orientation.
Figure 2. Schematics (a)(a)
andandimages
images(b)
(b) of the motionanalysis
analysis systemcamera orientation.
camera orientation.
Aerospace 2016, 3, 11 4 of 16

The cameras are mounted around the wind tunnel’s test section and are focused on the
wire-mounted model. The current system utilizes overlapping fields of view to determine the
time-resolved (6-DOF) position of the moving model in the wind tunnel at a frequency of 600 Hz.
The model’s position is tracked using an optical correlation based on an array of small reflective
round markers that are affixed to the model to reflect near infrared (NIR) light that is emitted by
Aerospace 2016, 3, 11 4 of 16
diode array built into each camera. The placement of the cameras can be arbitrary as long as the
six projected images
The cameras of these markersaround
are mounted measured by the
the wind cameras
tunnel’s contain
test section andenough
are focusedinformation
on the to fully
wire-mounted model. The current system utilizes overlapping fields
define the 6-DOF motion of the model (shown in Figure 2a with both the front and top views of of view to determine the
time-resolved (6-DOF) position of the moving model in the wind tunnel at a frequency of 600 Hz.
the system). The camera system is calibrated by dynamically moving a calibration target with three
The model’s position is tracked using an optical correlation based on an array of small reflective
reflective markers
round markersthrough theaffixed
that are measurement
to the modelvolume. Once
to reflect near the system
infrared (NIR)islight
calibrated, a static
that is emitted byimage of a
calibrationdiode
plate of reflective
array built into eachmarkers is measured
camera. The placement of tothe
construct
cameras can a template
be arbitrarythat is saved
as long on the host
as the six
computer projected
to transformimagesthe of these
markermarkers measured by the
measurements intocameras contain enough
the dynamic information
aerodynamic to fully
model coordinates
define the 6-DOF motion of the model (shown in Figure 2a with both the front and top views of the
with respect to the wind tunnel frame of reference. An example of the chosen camera locations are
system). The camera system is calibrated by dynamically moving a calibration target with three
shown in reflective
Figure 2b. After
markers the system
through is calibrated,
the measurement volume. the
OnceVICON Tracker
the system software
is calibrated, calculates
a static image of the error
in each marker (having
a calibration platetypical values
of reflective between
markers 0.05toand
is measured 0.5 mm,
construct dependent
a template on the
that is saved calibration
on the host and
computer to transform the marker measurements into the dynamic
camera locations), which are used to calculate the error in the measured model coordinates.aerodynamic model coordinates
with respect to the wind tunnel frame of reference. An example of the chosen camera locations are
shown in Figure 2b. After the system is calibrated, the VICON Tracker software calculates the error
2.3. Case Study: Axisymmetric Model
in each marker (having typical values between 0.05 and 0.5 mm, dependent on the calibration and
camera locations),
This traversing system which are used to to
is designed calculate
handle theaerror in the
variety ofmeasured
models model coordinates.
including munitions, small-scale
unmanned2.3. aerial vehicles (UAVs), parafoils, parachutes, and rotorcraft configurations. For the purposes
Case Study: Axisymmetric Model
of testing of the traverse, the model used as an example case study is an axisymmetric body, as shown
This traversing system is designed to handle a variety of models including munitions, small-scale
in Figure 3, which has
unmanned been
aerial of interest
vehicles (UAVs),inparafoils,
prior investigations
parachutes, and(e.g., [12–14]).
rotorcraft This axisymmetric
configurations. For the wind
tunnel model (Figure
purposes 3) isofassembled
of testing the traverse,using stereo-lithographed
the model used as an example case (SLA) and
study is aluminum
an axisymmetriccomponents
(D = 90 mm,body,L=as 165
shown mm,in Figure
m = 0.533, which
kg).has been
The of interest inand
mid-section priornose
investigations
are hollow(e.g., and
[12–14]). This
connected to the
axisymmetric wind tunnel model (Figure 3) is assembled using stereo-lithographed (SLA) and
tail section by a central shaft. After assembly, the SLA model surface is painted black resulting in an
aluminum components (D = 90 mm, L = 165 mm, m = 0.53 kg). The mid-section and nose are hollow
average surface roughness
and connected to theoftailapproximately 5 µm
section by a central shaft.and
Afterthen machined
assembly, the SLAflush
modelon a lathe
surface with the central
is painted
piece. In addition, six reflective circles of 7 mm diameter are attached on the
black resulting in an average surface roughness of approximately 5 μm and then machined flush surface foronthe motion
a lathe with the central piece. In addition, six reflective circles of
analysis system, and each marker was made from 3M 7610 retroreflective tape of 0.4 mm 7 mm diameter are attached on the thickness.
surface for the motion analysis system, and each marker was made from 3M 7610 retroreflective tape
These markers are arbitrarily placed so that each camera sees three of them (three of which can also be
of 0.4 mm thickness. These markers are arbitrarily placed so that each camera sees three of them
seen in Figures 2bwhich
(three of and can3c).also be seen in Figures 2b and 3c).

Figure 3. Side (a) and upstream (b) views of the CAD wind tunnel model with four hybrid fluidic
Side (a) marked
Figure 3. actuators and upstream (b)the
in green, and views
modelof the CAD
supported wind
by the tunnel
traverse (c). model with four hybrid fluidic
actuators marked in green, and the model supported by the traverse (c).
A secondary requirement for this traverse is that it can provide electrical power to the wind
tunnel model to enable future use of flow control applications. In the axisymmetric model example,
A secondary requirement for
four independently-driven this jet
synthetic traverse
actuatorsis(labeled
that itthe
can provide
top, electrical
left, bottom, and rightpower to the wind
actuators,
tunnel model to enable
as shown in Figurefuture use be,
3b) would of flow control
in principle, applications.
integrated In thealong
and distributed axisymmetric
the perimetermodel
of the example,
tail section, as they would
four independently-driven comprisejet
synthetic theactuators
flow control components
(labeled theintop,
a follow-up study. The
left, bottom, electrical
and right actuators,
power that would be used as a source for the synthetic jets is routed through weaved positive
as shown in Figure 3b) would be, in principle, integrated and distributed along the perimeter of the
voltage lines (30 AWG) along the mounting wires on the downstream end of the model (shown in
tail section, as they
Figure would
3c), where thecomprise theis flow
entire system control components in a follow-up study. The electrical
grounded.
power that would be used
The range as a source
of translational andfor the synthetic
rotational motions of jets
theistraverse
routedare through weaved positive
heavily dependent on the voltage
location where each mounting wire is attached to the model (the range of
lines (30 AWG) along the mounting wires on the downstream end of the model (shown in Figure 3c), translational motions are
also dependent on the locations of the eight servo actuators). For example, if the wires are mounted
where the entire system is grounded.
The range of translational and rotational motions of the traverse are heavily dependent on the
location where each mounting wire is attached to the model (the range of translational motions are
Aerospace 2016, 3, 11 5 of 16

Aerospace 2016, 3, 11 5 of 16
also dependent on the locations of the eight servo actuators). For example, if the wires are mounted
such such that they
that they are equally
are equally distributed
distributed in azimuth
in the the azimuth with 90˝90°
with between
between eacheach wire,
wire, a roll
a roll motion
motion would
would be impossible, and this scenario is shown in Figure 4a. If the wires are
be impossible, and this scenario is shown in Figure 4a. If the wires are not equally distributed in thenot equally distributed
in thetwo
azimuth, azimuth, two symmetric
symmetric groups of groups
wires can of wires can be tightened
be tightened or loosened or loosened
to provide to roll,
provide roll, asin red
as shown
shown in red and green in Figure 4b. The theoretical maximum roll (with full controllability) occurs
and green in Figure 4b. The theoretical maximum roll (with full controllability) occurs when one of
when one of these symmetric groups becomes in line with the center of the wire mounts, where this
these symmetric groups becomes in line with the center of the wire mounts, where this limit case is
limit case is shown in Figure 4c, which occurs if the green set of wires in Figure 4b are tightened.
shown in Figure
A similar 4c, which
argument canoccurs if thetogreen
be applied both set
the of wires
pitch andinyaw
Figure 4b are of
directions tightened.
the modelAlooking
similaratargument
the
can besideapplied
of the to bothor
model thethepitch
top and
of theyaw directions
model, of the Itmodel
respectively. is notedlooking
that inatthe
thefront
side view
of theshown
modelinor the
top ofFigure
the model,
4, therespectively.
projections of It is
thenoted
four that in the and
upstream frontfour
view shown in Figure
downstream wires 4, the projections
overlap, and theseof the
four upstream and four downstream
respective overlapping wires need to wires overlap,or
be tightened and these respective
loosened overlapping
equally in order to prevent wires
any need
pitch to be
or yaw dynamics. The current mounting locations were chosen such that
tightened or loosened equally in order to prevent any pitch or yaw dynamics. The current mounting the model can theoretically
have were
locations a significant
chosenand
such comparable
that the modelrange can
in alltheoretically
three rotational
have directions. Theseand
a significant realized locationsrange
comparable
in allare centered
three on the
rotational model andThese
directions. displaced vertically
realized by ±35.7
locations aremm, horizontally
centered on the by ±27.4and
model mm,displaced
and
streamwise by ±26.3 mm. The extent of the realized traverse motion is discussed in detail in
vertically by ˘35.7 mm, horizontally by ˘27.4 mm, and streamwise by ˘26.3 mm. The extent of the
Section 3.1.
realized traverse motion is discussed in detail in Section 3.1.

a b c

FigureFigure 4. Orientationofofthe
4. Orientation the support
support where
wherepure rollroll
pure is disabled (a) and
is disabled (a)enabled for clockwise
and enabled roll
for clockwise
(green arrows) and counter-clockwise roll (red arrows) (b); along with its respective
roll (green arrows) and counter-clockwise roll (red arrows) (b); along with its respective maximum maximum
clockwise roll deflection (c).
clockwise roll deflection (c).
2.4. Electrical Traverse Components
2.4. Electrical Traverse Components
The electrical subsystem of this traverse can be considered as being comprised of three separate
The electrical
composite subsystem
elements. of element
The first this traverse can be
is a “host” considered
computer whichasisbeing comprised
used for implementingof three separate
the real
composite elements.
time traverse The first
controller and element is a “host”
has two Quanser Q8 realcomputer
time datawhich is used
acquisition for implementing
boards which are used for the real
signal communication of the servo motor command and encoder signals, as well
time traverse controller and has two Quanser Q8 real time data acquisition boards which are used for as the flow control
actuator
signal commands.of
communication The
thesecond
servoelement is a high power
motor command and distribution systemas
encoder signals, that routes
well as theup flow
to 1 kW control
actuator commands. The second element is a high power distribution system that routes upwire
power to servo amplifiers for each of the servo motors. Particular attention was given to proper to 1 kW
routing and grounding in order to minimize electromagnetic interference (EMI) contamination of
power to servo amplifiers for each of the servo motors. Particular attention was given to proper wire
the measured signals. Each servo motor has an integrated 20 bit differential quadrature absolute
routing and grounding in order to minimize electromagnetic interference (EMI) contamination of the
encoder, where the output is converted to a single ended signal by custom electronics, and is
measured
sampledsignals.
by theEach
hostservo motorthrough
computer has an integrated
one of the 20 Q8bit differential
boards. quadrature
The third element absolute
is a customencoder,
where the output is converted to a single ended signal by custom electronics,
multichannel Ethernet data acquisition (DAQ) system that samples the load cells. The load cell and is sampled by the
host computer
signals are on the order mV and are susceptible to noise, so each load cell is routed with a short data
through one of the Q8 boards. The third element is a custom multichannel Ethernet
acquisition
cable to (DAQ)
signalsystem that samples
conditioning the load
electronics thatcells.
haveThe an load cell signals are
instrumentation on the and
amplifier orderpassive
of mV and
resistor-capacitor
are susceptible (RC)
to noise, sofiltering.
each load These
cell signals
is routed arewith
then atransmitted
short cable through universal
to signal data protocol
conditioning electronics
(UDP)an
that have packets at a nominalamplifier
instrumentation frequencyand of 1 passive
kHz to the host computer. (RC) filtering. These signals are
resistor-capacitor
then transmitted through universal data protocol (UDP)uses
The user interfaces with a master computer that Simulink
packets at a as an interface
nominal to build
frequency of 1the
kHz to
controller. Upon completion of the desired controller, Simulink generates a “C” code that is cross
the host computer.
compiled into a QNX binary. This binary is copied across an Ethernet network to the host computer
The user interfaces with a master computer that uses Simulink as an interface to build the controller.
(which utilizes a QNX operating system). When the master computer sends the execution command,
Uponthecompletion of the on
controller binary desired
the host machine Simulink
controller, is executed generates
in a hardareal
“C”timecodeenvironment,
that is crosswhich
compiled
sendsinto a
QNXtime-stamped
binary. This signals
binaryback
is copied across an Ethernet network to the host computer
over Ethernet to the master computer for accurate data recording. The (which utilizes
a QNXhostoperating
machine issystem). When the
also connected master computer
via Ethernet sends the
to the broadcasted execution
signal from the command,
VICON machinethe controller
to
binary on the host machine is executed in a hard real time environment, which sends time-stamped
signals back over Ethernet to the master computer for accurate data recording. The host machine is
also connected via Ethernet to the broadcasted signal from the VICON machine to use the position
Aerospace 2016, 3, 11 6 of 16

measured from the camera system for feedback to the control system code. It should be noted that
the driving
Aerospacesignals
2016, 3, 11for flow control can also be generated by the controller and output from6 of
the16 host
computer for referencing/triggering of external waveforms and signals.
use the position measured from the camera system for feedback to the control system code. It should
2.5. Control Systems
be noted that theDesign
driving signals for flow control can also be generated by the controller and output
from the host computer for referencing/triggering of external waveforms and signals.
The designed traverse is controlled through the trajectory-tracking controller depicted in Figure 5.
First, 2.5.
theControl
user can
Systemsprovide
Designtwo command inputs; a time trace for the desired model trajectory
in 6-DOF, and a time trace for the actuation commands to, for example, amplitude modulate all
The designed traverse is controlled through the trajectory-tracking controller depicted in Figure 5.
four synthetic jet carrier waveforms, when flow control needs to be utilized. Second, the 6-DOF
First, the user can provide two command inputs; a time trace for the desired model trajectory in
commanded6-DOF, and motion
a timeistrace
converted into eight
for the actuation servo motor
commands to, forcommands (6-DOF modulate
example, amplitude to 8-DOF), all which
four is
calculated
synthetic jet carrier waveforms, when flow control needs to be utilized. Second, the 6-DOFwires
through the geometry of the model and chosen mounting points, assuming the
are incompressible.
commanded motion Theis command
converted into signal
eighttoservoeachmotor
servocommands
actuator is then to
(6-DOF generated usingiseight
8-DOF), which
proportional-integral-derivative
calculated through the geometry (PID) controllers
of the model and with the mounting
chosen same coefficients (κ P,inner =
points, assuming the4.24 N¨are
wires m/rad,
κ I,innerincompressible.
= 21.20 N¨ m/(rad¨ The command
s), (κ D,innersignal
= 0.02toN¨each servo which
m¨ s/rad) actuator is then generated
commands the torque using
in theeight
motors.
proportional-integral-derivative
It is noted that with pure feedback (PID) controllers
control, there will withbethe same coefficients
a phase lag between (κP,inner
the =desired
4.24 N·m/rad,
command
κ I,inner = 21.20 N·m/(rad·s), (κD,inner = 0.02 N·m·s/rad) which commands the torque in the motors. It is
and the realized command, so the motions are currently restricted to time harmonic motions where
noted that with pure feedback control, there will be a phase lag between the desired command and
optimal PID coefficients yield an output that is self-similar to the desired command with a change
the realized command, so the motions are currently restricted to time harmonic motions where
in phase and amplitude. The realized motion is then calculated through measuring the conditioned
optimal PID coefficients yield an output that is self-similar to the desired command with a change in
encoder phase signals and inverting
and amplitude. The these
realized servo motor
motion positions
is then to thethrough
calculated model measuring
position using a least squares
the conditioned
algorithmencoder (8-DOF
signalstoand
6-DOF).
inverting This
thesecontrol
servo loop
motorispositions
considered
to thethe “inner
model loop using
position controller” in Figure 5.
a least squares
It is noted
algorithm that(8-DOF
this inner loop controller
to 6-DOF). This controlisloop sensitive to errors
is considered in theloop
the “inner geometric
controller”parameters
in Figure 5. of the
traverse It is(e.g.,
notedmounting locations,
that this inner loop or damping
controller and friction
is sensitive of theinmotors).
to errors In order
the geometric to compensate
parameters of the for
traverse (e.g.,
this geometric mounting
model, as well locations, or damping
as the change in theand friction of the
amplitude motors).
of the desiredIn order
command,to compensate
an “outer for loop
this geometric
controller” shownmodel, as well
in Figure 5 isasimplemented
the change in the toamplitude
adjust the of command
the desired command,
of the inner an “outer loop on
loop based
controller” shown in Figure 5 is implemented to adjust the command
the motion analysis system to allow for accurate trajectory tracking. The outer loop uses an integralof the inner loop based on the
motion analysis system to allow for accurate trajectory tracking. The outer loop uses an integral
error feedback controller that is set such that the measured trajectories reach the desired ones within
error feedback controller that is set such that the measured trajectories reach the desired ones within
10 s (κ I,outer = 0.3 s´1 for the 3-DOF translational commands and 0.1 s´1 for the 3-DOF rotational
10 s (κI,outer = 0.3 s−1 for the 3-DOF translational commands and 0.1 s−1 for the 3-DOF rotational
commands).
commands). In addition, a manual
In addition, a manual gain
gainofofthe
theinner
inner loop commandisisimplemented,
loop command implemented, determined
determined by by
matching matching the magnitudes of the measured amplitude to the desired amplitude, which is dependent on
the magnitudes of the measured amplitude to the desired amplitude, which is dependent
the frequency and desired
on the frequency motion.
and desired motion.

Flow Controller
Commanded
Amplifiers
Commanded Actuation
Trajectory
User Commands

6-DOF
+ Motion
Integral Error - Analysis
Controller x ,y, z,
αx, αy, αz System Servo
Outer Loop Controller Load Actuator
Vicon Correction Cell
+ -+ Modified
Manual x ,y, z, 6-DOF Error
Gain αx, αy, αz
8-DOF Force
8-DOF to 6-DOF to Error PID Commands Servo
6-DOF 8-DOF Controller Amplifiers

xMotors
Signal Motor Encoders
Conditioning TWires
Load Cells
Inner Loop Controller

Figure
Figure 5. Schematicsofofthe
5. Schematics thetraverse
traverse trajectory-tracking
trajectory-tracking controller.
controller.
Aerospace 2016, 3, 11 7 of 16
Aerospace 2016, 3, 11 7 of 16

The
The real
real time
time wire
wire tensions
tensions measured
measured through the load cells cells are
are used
used toto extract
extract the
the aerodynamic
aerodynamic
forces
forces and moments on the model. This This is
is realized
realized byby using
using aa free
free body
body diagram
diagram in in aa control
control volume
volume
Ñ
(CV)
(CV) shown
shown in in Figure
Figure 6,
6, where
where the
the aerodynamic
aerodynamic forcesforces are
are calculated
calculated by by the
the inertial force, FI,, of
inertialforce, of the
the
model (acting at the center of gravity, CG, and calculated from its estimated acceleration)
model (acting at the center of gravity, CG, and calculated from its estimated acceleration) with all other with all
Ñ
other forces subtracted. These other forces include the weight of the model ( , acting at CG), the
forces subtracted. These other forces include the weight of the model ( FG , acting at CG), the tension in
tension in theÑ wires, , and the estimated aerodynamic drag of the wires Ñ alone, . The latter is
the wires, FT , and the estimated aerodynamic drag of the wires alone, FAwires . The latter is calculated
calculated assuming the wires are cylinders with pure form drag (CD = 1.25) and no friction drag,
assuming the wires are cylinders with pure form drag (C = 1.25) and no friction drag, using the
using the real time location of both the model and motorD wire ends and calculating the normal
real time location of both the model and motor wire ends and calculating the normal projection of
projection of the flow. It is noted that each wire force is estimated as acting on the midpoint between
the flow. It is noted that each wire force is estimated as acting on the midpoint between the tunnel
the tunnel flange and the respective real time location of the wire mount on the model, and acting in
flange and the respective real time location of the wire mount on the model, and acting in the direction
the direction normal to the wires. The resultant force is the aerodynamic Ñ force on the model,
normal ,to the wires. The resultant force is the aerodynamic force
and a similar approach can be used to determine the moments by weighting on the model, FAmodel ,each
and aforce
similar
by

approach can be used to determine the moments by weighting each force
the location at which it acts. Measurements of the aerodynamic forces for the axisymmetric body by the location at which it
acts. Measurements
using this force balance of the are
aerodynamic
presentedforces for the3.2.
in Section axisymmetric
The current body using this force balance
trajectory-tracking are
controller
presented in Section 3.2. The current trajectory-tracking controller described
described in this section restricts the model to a prescribed trajectory, where the model has in this section restricts the
amodel to a prescribed
negligible response to trajectory,
external where the model
aerodynamic has(where
forces a negligible response toforce
the disturbance external
is onaerodynamic
the order of
forces (where the disturbance force is on the order of ~1 N, and the spring constant
~1 N, and the spring constant of the cables are on the order of ~100,000 N/m). It should be noted, of the cables are on
the order of ~100,000 N/m). It should be noted, however, that a free
however, that a free flight controller can instead be designed where the model would respondflight controller can instead be
designed where the model would respond directly to the disturbance forces
directly to the disturbance forces (by using the load cells as the primary feedback instead of the (by using the load cells as
the primary
encoders andfeedback instead but
camera signals), of the encoders
a more and camera
aggressive signals),
controller would but a more
have to beaggressive
implemented controller
in the
would have to be implemented in the inner loop to induce dynamics that
inner loop to induce dynamics that do not significantly lag the induced forces, and this type do not significantly lag the
of
induced forces, and this type of
controller is considered for future work. controller is considered for future work.

CV

CP CG

FA,model = FI – FG – ƩT – ƩFA,wires
Figure 6. Free-body diagram of the aerodynamic platform and the support wires with the
Figure 6. Free-body diagram of the aerodynamic platform and the support wires with the aerodynamic
aerodynamic model (blue), inertia (green), gravitational (cyan), and aerodynamic wire (orange)
model (blue), inertia (green), gravitational (cyan), and aerodynamic wire (orange) forces, and the wire
forces, and the wire tensions (red).
tensions (red).

3. Results
3. Results
3.1.
3.1. Motion
Motion Response
Response
The systemdynamic
The system dynamic performance
performance is characterized
is characterized in termsin of
terms of displacement
displacement range andrange and
frequency
frequency of sinusoidal
of sinusoidal commands, commands, and isin
and is depicted depicted in Although
Figure 7. Figure 7. Although the mounting
the mounting points of points
the wiresof the
on
wires on the motors and the model determine the ideal maximum range of motion
the motors and the model determine the ideal maximum range of motion with limitless tension and with limitless
tension and unbreakable
unbreakable wires,
wires, this range this rangefor
diminishes diminishes for a fixed
a fixed maximum maximum
tension. tension.
This range Thisfrequency
is also range is
also frequency
dependent and dependent
diminishes and
withdiminishes with higher
higher frequencies as thefrequencies
wires have as the wires
to support anhave to support
accelerating an
model
accelerating model with a larger inertial force. Therefore, the current controller is tested
with a larger inertial force. Therefore, the current controller is tested with a range of frequencies andwith a range
of
thefrequencies
maximum rangeand the maximum
of motion in allrange of motion
six degrees in all six
of freedom degrees of
is measured freedom
with is measured
a maximum with
wire tension
a maximum wire tension of 110 N, and the results are shown for translations and rotations, in
Figure 7a,b, respectively. This frequency response is dependent on all of the aforementioned
geometric and controls parameters and can be further optimized by modifying these parameters, if
Aerospace 2016, 3, 11 8 of 16

of 110 N, and the results are shown for translations and rotations, in Figure 7a,b, respectively. This
frequency
Aerospace response
2016, 3, 11 is dependent on all of the aforementioned geometric and controls parameters8 of and16
can be further optimized by modifying these parameters, if necessary. The measured displacement
amplitude The
necessary. thatmeasured
is realizeddisplacement
is 50 mm in translation
amplitude(x, y, is
that and z), andisrotations
realized 50 mm in 8˝ α x , 15˝ α(x,
oftranslation y , and 9˝ z),
y, and αz
and rotations of 8°  , 15°  , and 9°  at a frequency, f = 0.5 Hz,
at a frequency, f = 0.5 Hz, and decreases to 5 mm (x, y, and z), 1 ˝ α , 3 ˝ , and 2 ˝ at f = 20
x andy decreaseszto 5 mm (x, y, and
α α Hz. Four
z), 1°  motions
of these , 3°  , are 2°  at fin=Figure
andvisualized 20 Hz.7c,Four
withofstreamwise
these motions (x) translation, vertical
are visualized (z) translation,
in Figure 7c, with
pitch (αy ), and
streamwise yaw (αz ). vertical (z) translation, pitch ( ), and yaw ( ).
(x) translation,

Figure
Figure 7.
7. Frequency
Frequency response
response of
of tested
tested translational
translational (a),
(a), and
and rotational
rotational (b)
(b) motions,
motions, with
with an
an illustration
illustration
of the maximum traverse displacements achieved in four of the degrees of freedom
of the maximum traverse displacements achieved in four of the degrees of freedom (c). (c).

To test the control authority of the traverse for 6-DOF motion tracking, a combination of
To test the control authority of the traverse for 6-DOF motion tracking, a combination of rotations
rotations is commanded (pitch and yaw out of phase) and the instantaneous measurement is shown
is commanded (pitch and yaw out of phase) and the instantaneous measurement is shown in Figure 8
in Figure 8 with streamwise translation x (Figure 8a,b), cross stream translation y (Figure 8c,d),
with streamwise translation x (Figure 8a,b), cross stream translation y (Figure 8c,d), vertical translation
vertical translation z (Figure 8e,f), roll  (Figure 8g,h), pitch  (Figure 8i,j), and yaw  (Figure 8k,l),
z (Figure 8e,f), roll α x (Figure 8g,h), pitch αy (Figure 8i,j), and yaw αz (Figure 8k,l), respectively.
respectively. The commanded signal is a 3° amplitude sinusoidal pitch and sinusoidal yaw, 90° out
The commanded signal is a 3˝ amplitude sinusoidal pitch and sinusoidal yaw, 90˝ out of phase
of phase with each other. This same motion is executed with a representative “low” frequency of
with each other. This same motion is executed with a representative “low” frequency of 1 Hz in
1 Hz in Figure 8a,c,e,g,i,k along with a “high” frequency of 10 Hz in Figure 8b,d,f,h,j,l. Both of these
Figure 8a,c,e,g,i,k along with a “high” frequency of 10 Hz in Figure 8b,d,f,h,j,l. Both of these motions
motions are executed with wind tunnel flow (Re5D = 2.3 × 105) to demonstrate the disturbance
are executed with wind tunnel flow (ReD = 2.3 ˆ 10 ) to demonstrate the disturbance rejection of the
rejection of the controller. The time resolved path captured by the motion analysis system is shown
controller. The time resolved path captured by the motion analysis system is shown in blue while
in blue while the commanded signal is shown in dotted gray. These data show significant agreement
the commanded signal is shown in dotted gray. These data show significant agreement between the
between the commanded and measured signals in terms of peak-peak magnitude (within 5% at 1 Hz
commanded and measured signals in terms of peak-peak magnitude (within 5% at 1 Hz in Figure 8i,k
in Figure 8i,k and 7% at 10 Hz in Figure 8j,l), with ˝a phase lag of 40° at 1 Hz and 30° at 10 Hz. The
and 7% at 10 Hz in Figure 8j,l), with a phase lag of 40 at 1 Hz and 30˝ at 10 Hz. The realized deviations
realized deviations in the four other degrees of freedom that are not commanded are small: within
in the four other degrees of freedom that are not commanded are small: within 0.5˝ in roll (Figure 8g,h),
0.5° in roll (Figure 8g,h), and within 0.3 mm in all translations (Figure 8a–f). As mentioned in Section 2.2,
and within 0.3 mm in all translations (Figure 8a–f). As mentioned in Section 2.2, the errors in the
the errors in the motion measurements for this data set (which is the same as for the motions in
motion measurements for this data set (which is the same as for the motions in Sections 3.2 and 3.3) are
Sections 3.2 and 3.3) are calculated using the motion analysis system calibration error output (0.45 mm
calculated using the motion analysis system calibration error output (0.45 mm per marker on average),
per marker on average), yielding errors of 0.18 mm in translation and 0.02° in rotation. It is noted
yielding errors of 0.18 mm in translation and 0.02˝ in rotation. It is noted that these instantaneous
that these instantaneous traces are measured 10 s after the traverse is activated after the transient
traces are measured 10 s after the traverse is activated after the transient response of the traverse has
response of the traverse has settled. The measurements that are shown in Figure 8 can also be used
settled. The measurements that are shown in Figure 8 can also be used as feedback to the triggering
as feedback to the triggering lines for flow diagnostics (e.g., particle image velocimetry (PIV)) and/or
lines for flow diagnostics (e.g., particle image velocimetry (PIV)) and/or flow control, and therefore as
flow control, and therefore as long as the flow control is a function of the measured DOF the phase
long as the flow control is a function of the measured DOF the phase lag between the commanded and
lag between the commanded and measured trajectory is inconsequential for the considered
measured trajectory is inconsequential for the considered harmonic motions. In this section, the wind
harmonic motions. In this section, the wind speed is fixed at 40 m/s and it is noted that the traverse
controller treats the external aerodynamic forces on the model as disturbances to be rejected with
PID control. Keeping fixed PID coefficients, the phase lag of the commanded and realized responses
would increase with increasing wind speed, as the disturbance force grows, but in the present
Aerospace 2016, 3, 11 9 of 16

speed is fixed at 40 m/s and it is noted that the traverse controller treats the external aerodynamic
forces on
Aerospace the3,model
2016, 11 as disturbances to be rejected with PID control. Keeping fixed PID coefficients,
9 ofthe
16
phase lag of the commanded and realized responses would increase with increasing wind speed, as
investigations,
the disturbancethe PID
force parameters
grows, are present
but in the pre-adjusted for a given
investigations, theReD and
PID can be further
parameters tuned withfor
are pre-adjusted a
change
a givenin
Rethe wind speed.
D and can be further tuned with a change in the wind speed.

2
a b
1
x [mm]

-1
-2
2
c d
1
y [mm]

-1
-2
2
e f
1
z [mm]

-1
-2
4 g h
2
αx [deg]

-2
-4
4 i j
2
αy [deg]

-2
-4
4 k l
2
αz [deg]

-2
-4
0 0.5 1 1.5 2 0 0.05 0.1 0.15 0.2
t [s] t [s]

Figure 8.
Figure Traverse motion
8. Traverse motion response
response for 3˝ amplitude
for 3° amplitude pitch
pitch and
and yaw
yaw rotation, 90˝ out
rotation, 90° out ofof phase,
phase, with
with
measured translation in x (a,b), y (c,d), and z (e,f), and rotations in roll (g,h), pitch (i,j), and yaw
measured translation in x (a,b), y (c,d), and z (e,f), and rotations in roll (g,h), pitch (i,j), and yaw (k,l), (k,l),
for frequencies of 1 Hz (a,c,e,g,i,k) and 10 Hz (b,d,f,h,j,l), with a flow Re = 2.3 ˆ 10 5 . The commanded
for frequencies of 1 Hz (a,c,e,g,i,k) and 10 Hz (b,d,f,h,j,l), with a flow ReDD = 2.3 × 10 . The commanded
5

and measured
and measured responses
responses are
are shown
shown in in dotted
dotted gray
gray and
and blue,
blue, respectively.
respectively.

3.2. Force
3.2. Force Response
Response
The second
The second analysis
analysis that
that is
is implemented
implemented on on the
the traverse
traverse isis aa validation
validation of of the
the force
force and
and moment
moment
measurements. Initially, the drag force on the stationary
measurements. Initially, the drag force on the stationary centered model centered model (F D (FD) is measured aover
) is measured over rangea
of wind tunneltunnel
speeds, U0 , ofUup (0 <(0Re 5
range of wind speeds, 0, oftoup40tom/s
40 m/s < DRe<D 2.3
< 2.3ˆ×10 10),), and
5 and these
these data are presented
presented in in
Figure 9a.
Figure 9a. The
The measured
measured dragdrag coefficient is CD D= =0.239,
0.239,which
whichisisshown
shownin inaadotted
dotted line,
line, and
and is
is in
in good
good
agreement with the expected
agreement with the expected drag drag coefficient of C = 0.25 (for a similar ogive model with
D = 0.25 (for a similar ogive model with a sharp aft
D a sharp aft
end, see
end, see Hoerner
Hoerner [15]).
[15]). For
For this
this stationary
stationary centered
centered model,
model, allall other
other forces
forces are
are nominally
nominally zero,
zero, and
and
are omitted for brevity. It is noted that for all of the forces presented in this section
are omitted for brevity. It is noted that for all of the forces presented in this section the force balance the force balance
method shown
method shownininFigure
Figure 6 (see Section
6 (see 2.5) is 2.5)
Section applied: the combination
is applied: of the inertial
the combination and inertial
of the gravitational
and
forces is measured
gravitational forcesfirst from the model
is measured executing
first from the prescribed
the model executingmotion command
the prescribed without
motion wind in
command
without wind in the tunnel, and the aerodynamic force on each wire is calculated assuming the
wires are cylinders with pure form drag (CD = 1.25). The drag on each of these wires is normal to the
wire and, in general motion, projects components in all six of the measured forces and moments in the
system. For Figure 9, the gravitational force measured (model, wires, and load cells) is a constant,
there is no inertial force, and the estimated aerodynamic forces on the wires add up to a pure drag
Aerospace 2016, 3, 11 10 of 16

the tunnel, and the aerodynamic force on each wire is calculated assuming the wires are cylinders
with pure form drag (CD = 1.25). The drag on each of these wires is normal to the wire and, in general
Aerospace 2016, 3, 11 10 of 16
motion, projects components in all six of the measured forces and moments in the system. For Figure 9,
the gravitational force measured (model, wires, and load cells) is a constant, there is no inertial force,
force. These forces are subtracted off of the raw measured forces, which yields the aerodynamic drag
and the estimated aerodynamic forces on the wires add up to a pure drag force. These forces are
force that is used to calculate the model CD. When the model is set in motion, the projected
subtracted off of the raw measured forces, which yields the aerodynamic drag force that is used to
gravitational moment changes with time as the location of the center of gravity varies, and the
calculate the model CD . When the model is set in motion, the projected gravitational moment changes
inertial force and aerodynamic forces on the wires also change with time. All of these time-varying
with time as the location of the center of gravity varies, and the inertial force and aerodynamic forces
forces are predicted (inertia and gravity effects are estimated from a commensurate measurement
on the wires also change with time. All of these time-varying forces are predicted (inertia and gravity
without wind) and subtracted from the raw measurement in order to yield the estimated
effects are estimated from a commensurate measurement without wind) and subtracted from the raw
aerodynamic forces. In addition, for the remainder of this paper the aerodynamic moments are
measurement in order to yield the estimated aerodynamic forces. In addition, for the remainder of this
measured relative to the center of the model wires at 0.54 L from the nose. It should be also noted
paper the aerodynamic moments are measured relative to the center of the model wires at 0.54 L from
that the wires do not only affect aerodynamic measurements, but also present additional sources of
the nose. It should be also noted that the wires do not only affect aerodynamic measurements, but also
vorticity in the flow. However, increased levels of the flow fluctuations behind the wires do not
present additional sources of vorticity in the flow. However, increased levels of the flow fluctuations
appear to alter the dominant body wake dynamics, and the coupling between the two is deemed
behind the wires do not appear to alter the dominant body wake dynamics, and the coupling between
insignificant (see Lambert et al. [14]).
the two is deemed insignificant (see Lambert et al. [14]).

1.5

1 CD = 0.239
FD [N]

0.5

0
0 1 2 3 4 5 6 7

½ ρADU2 [N]

Figure 9. Measured
Figure 9. Measured axisymmetric
axisymmetric model
model drag
drag with
with varying
varying wind
wind tunnel
tunnel speed.
speed.

Once the
Once the force
force on
on aa centered
centered stationary
stationary model
model isis characterized,
characterized, threethree canonical
canonical motions
motions areare
investigated: dynamic pitch, plunge, and streamwise
investigated: streamwise displacement.
displacement. The first motion motion presented
presented inin
Figure
Figure 10 10 is dynamic  = ±3°˝ (±0.052 radians) amplitude, simple harmonic pitching.
αy = ˘3 (˘0.052 radians) amplitude, simple harmonic pitching. This motion This motion is
quantified
is quantifiedbybythe thedrag
drag and
and lift coefficients CD,L, =
lift force coefficients “ 88FD,L, / {ρπD U0as
2 2 as well
well as pitching
as the pitching
moment coefficient
moment coefficientCD,L, “ = 8M
8 P/{ρπLD2 U02, ,and andforforthe
the rest
rest of
of this
this force
force investigation, the free stream
stream
set to U 0 = 40 m/s (Re D = 2.3 × 10 5
is set to 0 = 40 m/s (ReD = 2.3 ˆ 10 ). For these flow conditions, the measured side force and and
is 5). For these flow conditions, the measured side force and roll roll
yawyaw
and momentsmomentsare negligible in all in
are negligible three
all of these
three of canonical motions,
these canonical and they
motions, andarethey
omitted for brevity.
are omitted for
Figure 10a–e
brevity. Figure show
10a–eCDshow
, FigureCD10f–j show
, Figure CL, show
10f–j and Figure
CL , and10k–o
Figureshow CM with
10k–o showtheCMpitching
with theangle,  .
pitching
angle, y . Figure
Figure α10a,f,k show 10a,f,k show the a quasi-steady
the a quasi-steady response at f =response
1 Hz, (orat f = 1 Hz,frequency
a reduced of =frequency
(or a reduced of
= 0.013),
πfD
kand U0 =
“ the 0.013), and
increased the increased
frequency to 5 Hz frequency
(k = 0.065,to Figure
5 Hz (k10b,g,l),
= 0.065,10 Figure
Hz (k10b,g,l),
= 0.130,10 Hz (k10c,h,m),
Figure = 0.130,
Figure 10c,h,m), 15 Hz (k = 0.194, Figure 10d,i,n), and 20 Hz (k = 0.259, Figure 10e,j,o).
15 Hz (k = 0.194, Figure 10d,i,n), and 20 Hz (k = 0.259, Figure 10e,j,o). For reference, the values of the For reference,
the
CD, values
CL, andofCthe
M forCDa, static
CL , and CM for
model a static fixed
at varying modelangles
at varying fixedwith
of attack angles
the of attack
same with the
geometry same
[14] are
geometry
superimposed[14] are
in superimposed
Figure 10a,f,k.inThe Figure 10a,f,k.
baseline CDThe  presented
vs. baseline CD vs. in presented
αy Figure 10ainhas
Figure 10a has
a quadratic
ashape
quadratic
with ashape
minimumwith aofminimum
CD = 0.24 at of CD == 00.24
andataαchange
y = 0 and a change inof
in magnitude magnitude
around 25% of around
(0.24 to 25%
0.3).
(0.24 to 0.3). As frequency is increased, the quadratic functionality in
As frequency is increased, the quadratic functionality in the drag with angle becomes broken the drag with angle becomes
and the
broken and thedrag
cycle average cycleincreases
average drag to 0.3increases
at 15 Hz to 0.3 at 15 10b–d),
(Figure Hz (Figureand10b–d), and then
then reduces toreduces
0.28 at to200.28
Hz
at 20 Hz (Figure 10e). It is noted that the shedding frequency of this model
(Figure 10e). It is noted that the shedding frequency of this model is expected to be around 100 Hz is expected to be around
100
(StDHz (StD0 =
= fD/U fD/U
was 0 was measured
measured to be ~0.2,toforbea~0.2, for axisymmetric
similar a similar axisymmetric
body [16]),body and [16]), andfrequency
the high the high
frequency variations in C (as well as C and C ) that are not present in the quasi-steady
variations in CD (as well as CL and CM) that are not present in the quasi-steady results are at frequencies
D L M results are
of harmonics of the model motion near this shedding frequency. The baseline steady CL vs. 
at frequencies of harmonics of the model motion near this shedding frequency. The baseline steady
Cpresented ˝
L vs. αy presented
in Figurein10f Figure 10f is quasi-linear
is quasi-linear with ahysteresis
with a slight slight hysteresis andslope
and a lift a lift slope  C~0.05/°.
of CL/of L /αy ~0.05/
Upon.
Upon increasing
increasing the pitching
the pitching frequency
frequency to 10toHz 10 Hz (Figure
(Figure 10g,h),
10g,h), thethehysteresis
hysteresisininthe the lift
lift coefficient
coefficient
increases while the average lift slope remains similar, and at higher frequencies this slope
diminishes to 0.03/° and 0.025/° at 15 and 20 Hz, respectively (see Figure 10i,j). The tendency of the
CL (and CM) hysteresis to increase with frequency is attributed to unsteady effects of the flow (the
magnitude of the wake’s response time remains roughly similar as the model cycle time decreases).
The quasi-steady CM is shown in Figure 10k, with an increasing slope CM/ with frequency from
Aerospace 2016, 3, 11 11 of 16

increases while the average lift slope remains similar, and at higher frequencies this slope diminishes
to 0.03/˝ and 0.025/˝ at 15 and 20 Hz, respectively (see Figure 10i,j). The tendency of the CL (and CM )
hysteresis to increase with frequency is attributed to unsteady effects of the flow (the magnitude of the
wake’s response time remains roughly similar as the model cycle time decreases). The quasi-steady CM
Aerospace 2016, 3, 11 11 of 16
is shown in Figure 10k, with an increasing slope CM /αy with frequency from 0.01/˝ at 1 Hz to 0.025/˝
at 0.01/°
20 Hz,atwith
1 Hza to large increase
0.025/° at 20 in
Hz,the
withhysteresis of the response
a large increase at higherof
in the hysteresis frequencies
the response(Figure 10l–o).
at higher
It is noted that this “average slope” is defined as the slope of a linear fit through the dataset
frequencies (Figure 10l–o). It is noted that this “average slope” is defined as the slope of a linear fit and does
not take inthe
through account
datasetvariations duetake
and does not to the hysteresis.
in account In addition,
variations having
due to the a positive
hysteresis. averagehaving
In addition, slope of
CMa with αy implies
positive averagethat theofmodel
slope CM with  implies
is unstable in pitch (themodel
that the moment increasesinwith
is unstable an(the
pitch increase
momentin the
pitching angle),
increases with as an expected.
increase in the pitching angle), as expected.

0.39
a b c d e
0.34
CD

0.29

0.24

0.19
0.2
f g h i j
0.1
CL

-0.1

-0.2
0.12
k l m n o
0.06
CM

-0.06

-0.12
-4 -2 0 2 4 -4 -2 0 2 4 -4 -2 0 2 4 -4 -2 0 2 4 -4 -2 0 2 4
αy [deg] αy [deg] αy [deg] αy [deg] αy [deg]

Figure
Figure 10.10.Drag
Drag(a–e),
(a–e),Lift
Lift(f–j),
(f–j),and
and Pitch
Pitch (k–o)
(k–o) coefficients
coefficientswith
withpitching
pitchingangle forfor
angle thethe
axisymmetric
axisymmetric
model with simple harmonic pitching at an amplitude of αy = ±3° ˝
and oscillation frequencies of 1ofHz
model with simple harmonic pitching at an amplitude of αy = ˘3 and oscillation frequencies 1 Hz
(a,f,k), 5 Hz (b,g,l), 10 Hz (c,h,m), 15 Hz (d,i,n), and 20 Hz (e,j,o) over a time interval of 1 s, using
(a,f,k), 5 Hz (b,g,l), 10 Hz (c,h,m), 15 Hz (d,i,n), and 20 Hz (e,j,o) over a time interval of 1 s, using
100 phase averages, with a flow ReD = 2.3 × 105. The drag, lift, and pitch coefficients measured on the
100 phase averages, with a flow ReD = 2.3 ˆ 105 . The drag, lift, and pitch coefficients measured on the
same model geometry at static angles by Lambert et al. [14] are shown in green symbols.
same model geometry at static angles by Lambert et al. [14] are shown in green symbols.

The second motion investigated is dynamic z = ±5 mm (z/D = ±0.056) amplitude simple

The
harmonic second motion
plunging, investigated
shown is dynamic
in Figure 11. Figurez =11a–e
˘5 mm show(z/D CD=, Figure amplitude
˘0.056)11f–j show Csimple
L, and harmonic
Figure
plunging,
11k–o showshown CMin with
Figure 11.plunging
the Figure 11a–e show CD
coordinate, z,, Figure
analogous11f–jtoshow CL , 10,
Figure andwith
Figurethe11k–o
sameshowflowCM
with the plunging
conditions, coordinate,
frequencies, z, analogous
and timing. to Figure
As the motion 10, with
increases the same flow
in frequency, conditions,
the time averagedfrequencies,
CD stays
andaround
timing.theAssame at 0.24, increases
the motion with the in introduction
frequency, of thea time
higher frequency
averaged CD stays
fluctuation
around (varying
the same in at
magnitude from 0.01 to 0.08 in Figure 11a–e) attributed to the wake instability.
0.24, with the introduction of a higher frequency fluctuation (varying in magnitude from 0.01 to is The quasi-steady C L 0.08
in approximately
Figure 11a–e) invariant
attributed(Figure
to the 11f),
wakebut has the introduction
instability. The quasi-steadyof a small
CL isnegative slope at invariant
approximately higher
frequencies
(Figure (CL/z
11f), but has= 0.015/° at 10 Hz, 0.01/°
the introduction at 15 Hz,
of a small and 0.015/°
negative slopeatat20higher
Hz) infrequencies
addition to a(Clarge higher ˝
L /z = 0.015/
frequency fluctuation
˝ (also attributed ˝to shedding). This negative average slope
at 10 Hz, 0.01/ at 15 Hz, and 0.015/ at 20 Hz) in addition to a large higher frequency fluctuation of C L with z implies

thatattributed
(also the modeltoisshedding).
stable in plunge, as the average
This negative aerodynamic
slopeforce
of CLopposes the plunging
with z implies that thedirection.
model isThe stable
quasi-steady CM has slight variations, shown in Figure 11k, with negligible slope throughout its
frequency, until the plunging frequency is 20 Hz, with the introduction of a CM/z slope. This may be
due to small deviations between the commanded zero pitching angle of the model and the realized
pitching angle, as the pitching moment is very sensitive to pitching angle at this large unsteady
frequency (compare Figures 10o and 11o).
Aerospace 2016, 3, 11 12 of 16

in plunge, as the aerodynamic force opposes the plunging direction. The quasi-steady CM has slight
variations, shown in Figure 11k, with negligible slope throughout its frequency, until the plunging
frequency is 20 Hz, with the introduction of a CM /z slope. This may be due to small deviations between
the commanded zero pitching angle of the model and the realized pitching angle, as the pitching
moment is very sensitive to pitching angle at this large unsteady frequency (compare Figures 10o
andAerospace
11o). 2016, 3, 11 12 of 16

0.39
a b c d e
0.34
CD

0.29

0.24

0.19
0.2
f g h i j
0.1
CL

-0.1

-0.2
0.12
k l m n o
0.06
CM

-0.06

-0.12
-6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6
z [mm] z [mm] z [mm] z [mm] z [mm]

Figure
Figure11.11.Drag
Drag(a–e),
(a–e),Lift
Lift(f–j),
(f–j),and
and Pitch
Pitch (k–o) coefficients
coefficientswith
withsimple
simpleharmonic
harmonic plunge
plunge at at frequencies
frequencies
of of
1 1Hz
Hz(a,f,k),
(a,f,k), 55 Hz
Hz(b,g,l), 10 10
(b,g,l), Hz Hz
(c,h,m), 15 Hz15
(c,h,m), (d,i,n), and 20 Hz
Hz (d,i,n), and(e,j,o)
20 Hz and(e,j,o)
an amplitude z = ±5mm, of
and anofamplitude
z =for
˘5the
mm,same forconditions as in Figureas
the same conditions 10.in Figure 10.

The third and last canonical motion is dynamic x = ±5 mm (x/L = ±0.030) amplitude simple
The third and last canonical motion is dynamic x = ˘5 mm (x/L = ˘0.030) amplitude simple
harmonic streamwise displacement, shown in Figure 12. CD (Figure 12a–e), CL (Figure 12f–j), and CM
harmonic streamwise displacement, shown in Figure 12. CD (Figure 12a–e), CL (Figure 12f–j), and CM
(Figure 12k–o) are presented with the same frequencies, timing, and conditions as Figures 10 and 11,
(Figure 12k–o) are presented with the same frequencies, timing, and conditions as Figures 10 and 11
for completion. For this motion, it is noted that both the motion and the freestream velocity are in the
forsame
completion.
direction,Forsothis
the motion, it is noted
predominant changesthatoccur
both intheCmotion and the freestream velocity are in
D, while the changes to CL and CM are
theattributed
same direction, so the predominant changes occur in
only to phase locking to the instability in the wake, and are C D , while changes to CLsymmetric
theapproximately and CM are
attributed
with zero time averaged values (Figure 12f–o). The time averaged value of the drag retains asymmetric
only to phase locking to the instability in the wake, and are approximately value of
with zero time averaged
approximately 0.24, with values
a growth (Figure 12f–o). atThe
in hysteresis time
10 Hz averaged
(Figure value maximizes
12c), which of the dragat retains
15 Hz a
value of approximately 0.24, with a growth in hysteresis at 10 Hz (Figure
(Figure 12d), and then decreases at 20 Hz (Figure 12e). It is noted that for most of these drag 12c), which maximizes
at measurements
15 Hz (Figure 12d), and then
the average decreases
slope at 20 is
of the drag Hzzero,
(Figure
with12e). It is notedofthat
the exception for most
15 Hz whereofthere
theseisdrag
a
measurements
slight slope oftheCD/xaverage slope
of −0.01/° which of suggests
the dragthis is zero,
motion with the exception
is neutrally of 15
stable (the Hz where there
aerodynamic drag isis a
roughly
slight slopeinvariant
of CD /x to ´0.01/˝ in
of changes streamwise
which suggests coordinate
this motion throughout
is neutrallymost frequencies).
stable This can be
(the aerodynamic drag
expected as this motion can be analyzed as a fluctuation of the
is roughly invariant to changes in streamwise coordinate throughout most frequencies). This canfreestream with a value of be
2πfx = ±0.0314
expected to 0.628can
as this motion m/s,bewhich should
analyzed as anot induce large
fluctuation fluctuations
of the freestreaminwiththe steady
a valuedrag coefficient,
of 2πfx = ˘0.0314
to and
0.628the onlywhich
m/s, induced effects
should areinduce
not expected to be
large induced inin
fluctuations the unsteady
the aerodynamics
steady drag regime.
coefficient, and the only
induced effects are expected to be induced in the unsteady aerodynamics regime.
Aerospace 2016, 3, 11 13 of 16
Aerospace 2016, 3, 11 13 of 16

0.39
a b c d e
CD 0.34

0.29

0.24

0.19
0.2
f g h i j
0.1
CL

-0.1

-0.2
0.12
k l m n o
0.06
CM

-0.06

-0.12
-6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6 -6 -3 0 3 6
x [mm] x [mm] x [mm] x [mm] x [mm]

Figure 12.
Figure 12. Drag
Drag (a–e),
(a–e), Lift
Lift (f–j),
(f–j), and
and Pitch
Pitch (k–o) coefficients with
(k–o) coefficients with simple
simple harmonic
harmonic streamwise
streamwise
displacement at frequencies of 1 Hz (a,f,k), 5 Hz (b,g,l), 10 Hz (c,h,m), 15 Hz (d,i,n),
displacement at frequencies of 1 Hz (a,f,k), 5 Hz (b,g,l), 10 Hz (c,h,m), 15 Hz (d,i,n), and and 20 Hz20
(e,j,o)
Hz
and an amplitude of x = ±5 mm, for the same conditions as in Figure
(e,j,o) and an amplitude of x = ˘5 mm, for the same conditions as in Figure 10.10.

3.3. Wake
3.3. Response
Wake Response
In order
In order to to understand
understand the the flow
flow mechanisms
mechanisms that that result
result inin forces
forces measured
measured on on the
the moving
moving bodybody
mounted in this traverse, it is necessary to be able to measure or estimate
mounted in this traverse, it is necessary to be able to measure or estimate the wake response around the wake response aroundthe
the moving
moving model.model.
The The
wakewakeresponseresponsecan be can be measured
measured relative
relative to theto realthetime
realstates
time states
of the of the model
model as the
as the traverse
traverse controllercontroller
outputsoutputs
an analog an trigger
analogto trigger
externalto external
devices at devices at either
either fixed timefixed timetrajectory
or fixed or fixed
offsets. This triggering system is used to trigger an external LaVision particle image velocimetryimage
trajectory offsets. This triggering system is used to trigger an external LaVision particle (PIV)
velocimetry
system (PIV) system
to capture to capture
instantaneous imagesinstantaneous
of the wake images
at theofafttheendwake at the
of the modelaft end
in an ofinterrogation
the model in
an interrogation
region of 1.6D ˆ region
1.2D (3.2Rof 1.6Dˆ 2.4R)× 1.2Din a(3.2R × 2.4R)
vertical regionin along
a vertical region along
the centerline themodel.
of the centerline of the
Figure 13
model. Figure 13 shows six phase-averaged flow fields (each based
shows six phase-averaged flow fields (each based on 300 individual realizations) for the αy = ˘3˝ on 300 individual realizations)
(Figure  = ±3° (Figure
for the 13a,d,g,j,m,p), z =13a,d,g,j,m,p),
˘5 mm (Figure z =13b,e,h,k,n,q),
±5 mm (Figure and13b,e,h,k,n,q),
x = ˘5 mm (Figure and x =13c,f,i,l,o,r),
±5 mm (Figure with
13c,f,i,l,o,r),
velocity fieldwith velocity
vectors field on
overlaid vectors
a raster overlaid
plot of onthea raster plot of the
cross-stream cross-stream
vorticity, ζ, at Revorticity, ζ, at5
D = 2.3 ˆ 10
Re D = 2.3 × 105 (U0 = 40m/s) The frequency of these motions are chosen to represent unsteady wake
(U0 = 40 m/s). The frequency of these motions are chosen to represent unsteady wake dynamics at
dynamics
20 Hz (τ = at 20s),
0.05 Hzand(τ =the
0.05
phasess), and
shown the phases
are equallyshown are in
spaced equally
time, t,spaced in time,
throughout thet,cycles
throughout
at: t/τ = the0
cycles at: t/τ = 0 (Figure 13a–c), 0.167 (Figure 13d–f), 0.333 (Figure 13g–i),
(Figure 13a–c), 0.167 (Figure 13d–f), 0.333 (Figure 13g–i), 0.500 (Figure 13j–l), 0.667 (Figure 13m–o), and 0.500 (Figure 13j–l), 0.667
(Figure
0.833 13m–o),
(Figure and 0.833
13p–r). (Figure 13p–r).
For reference, the aft For endreference,
of the modelthe is
aftsuperimposed
end of the model is superimposed
on this data and shown on
this
in dataThe
gray. andwake
shown in gray.
behind this The
model wake has behind this model
three primary regionshas ofthree primary
interest: (i) theregions
shear of interest:
layer with
(i) the shear layer with the largest vorticity concentration; (ii) the inner
the largest vorticity concentration; (ii) the inner wake with a reversed flow and smaller concentration wake with a reversed flow
and
of smallerwhich
vorticity, concentration
is boundofbyvorticity,
the wakewhich is bound
stagnation byand
point; the (iii)
wake thestagnation
boundary point; and (iii)
layer along the the
aft
boundary layer along the aft end of the body, which clearly indicates
end of the body, which clearly indicates the time-resolved stagnation point on the body. For αy = ˘3˝ the time-resolved stagnation
point(Figure
pitch body. For  the
on the13a,d,g,j,m,p), = ±3°
chosen pitch time (Figure 13a,d,g,j,m,p),
scale leads to an unsteady the chosen time scale
flow response, where leads
the to
wake an
unsteady flowtime
development response,
scale iswhere
on thethe wake
same development
order of the model timemotion.
scale isThis on the same
leads order
to the of the
wake model
response
motion. This leads to the wake response being out of phase with the model (note the wake is
approximately centered between Figure 13a,d, and Figure 13j,m, respectively, implying an
approximate phase lag of the wake response of about 30°) which is also commensurate with the
Aerospace 2016, 3, 11 14 of 16

being out of phase with the model (note the wake is approximately centered between Figure 13a,d, and
FigureAerospace
13j,m,2016,
respectively,
3, 11 implying an approximate phase lag of the wake response of about 30 ˝ which
14 of) 16
is also commensurate with the hysteresis measured previously in CL vs. αy and CM vs. αy (Figure 10e,j,o).
For z hysteresis measured
= ˘5 mm plunge previously
(Figure in CL vs. theand
13b,e,h,k,n,q), wake vs.  (Figure
CM response looks10e,j,o).
similar For z = ±5 mm
to pitching plunge
with a smaller
(Figure 13b,e,h,k,n,q), the wake response looks similar to pitching with a smaller deflection and a
deflection and a different phase lag (an easy way to observe this effect is to compare the development
different phase lag (an easy way to observe this effect is to compare the development of the
of the stagnation point on the model in Figure 13b,e,h,k,n,q to Figure 13a,d,g,j,m,p). For x = ˘5 mm
stagnation point on the model in Figure 13b,e,h,k,n,q to Figure 13a,d,g,j,m,p). For x = ±5 mm
streamwise displacement
streamwise displacement (Figure 13c,f,i,l,o,r),
(Figure the wake
13c,f,i,l,o,r), seemsseems
the wake approximately unchanged
approximately and translates
unchanged and
with the modelwith
translates with thean addition
model with ofan small fluctuations
addition in the vorticity
of small fluctuations in the reversed
in the vorticity flow region
in the reversed flow of
the inner
regionwake.
of theIn addition
inner wake. to In Figure
addition13,to videos arevideos
Figure 13, provided with thewith
are provided manuscript that depict
the manuscript that the
αy = ˘3 ˝ pitch
depict  = ±3°S1),
the (Video pitchz =(Video
˘5 mm plunge
S1), z = ±5 (Video
mm plungeS2), and
(Videox =S2), mm xstreamwise
˘5 and displacement
= ±5 mm streamwise
(Videodisplacement (Video S3)at
S3) wake dynamics wake dynamics
f = 20 Hz (seeatSupplementary
f = 20 Hz (see Supplementary Materials).
Materials). These These
results results
show that the
show
present that thetraverse
dynamic present dynamic
is capable traverse is capable
of effecting of effecting
high frequency highharmonic
frequency motions
harmonicof motions of
the attached
model,theasattached
well asmodel,
resolvingas well
both asthe
resolving
induced both the induced aerodynamic
aerodynamic forces and
forces on a model on a the
model and the
corresponding
corresponding wake response.
wake response.

Figure 13. Raster

Figure plots
13. Raster of the
plots phase-averaged
of the phase-averagedvorticity fieldwith
vorticity field withoverlaid
overlaid phase-averaged
phase-averaged velocity
velocity
vectors for simple harmonic motions (f = 20 Hz) in α = ˘3 ˝ pitch (a,d,g,j,m,p), z = ˘5 mm plunge
vectors for simple harmonic motions (f = 20 Hz) in αyy = ±3° pitch (a,d,g,j,m,p), z = ±5 mm plunge
(b,e,h,k,n,q),
(b,e,h,k,n,q), x = ˘5
and and x = ±5mmmmstreamwise
streamwisedisplacement (c,f,i,l,o,r),atatphases
displacement (c,f,i,l,o,r), phasest/τt/τ
=0= 0 (a–c),
(a–c), 0.1670.167
(d–f),(d–f),
0.333 0.333
(g–i),(g–i),
0.5000.500
(j–l),(j–l),
0.667 (m–o),
0.667 and
(m–o), and0.833(p–r)
0.833(p–r)with flowRe
with a flow ReDD= =2.32.3 ˆ5.105 .
× 10
Aerospace 2016, 3, 11 15 of 16

4. Discussion and Concluding Remarks

The present experimental work is focused on a design, manufacturing, and implementation
of a novel 6-DOF traversing mechanism that enables realization of dynamic states of a model and
characterization of its motion and force/moment responses. This traversing mechanism suspends a
wind-tunnel model by eight wires with custom servo actuators. This mechanism is designed to move
all the wires in patterns that can cause rotation in three independent axes: roll (8˝ ), pitch (15˝ ), and
yaw (9˝ ), as well as the respective independent translations: streamwise, cross-stream, and vertical;
all within a range of 50 mm at lower frequencies. The range of the traverse is dependent on the
frequency of motions as well as the geometry of the model which is to be investigated. Each wire has
an incorporated load cell that resolves the tension, and thereby captures the aerodynamic forces and
moments on the model. Motion is executed by an in-house real-time controller that provides signals
to the servo actuators as commanded. The executed motion is recorded in six degrees of freedom
by an external VICON camera system (600 fps), which output is fed into the controller as a feedback
signal to maximize the accuracy of motion. The real-time control system utilizes two Quanser data
acquisition boards.
The traverse-driven model motion is tested in multiple degrees of freedom, and it could
generate desired complex trajectories, comprised of the combined translational and rotational motions.
These trajectories could be realized with minimal error compared to the commanded motion, being
executed in a PID control loop in addition to having feedback from the motion analysis system. In the
present work, a time trace of pitch and yaw commands out of phase are generated to demonstrate the
robustness of this traverse controller in multiple degree of freedom motion at a representative “low”
frequency of 1 Hz, and a representative “high” frequency of 10 Hz.
For the purposes of the traverse testing, an axisymmetric model is used as a case study.
Three canonical motions of this model are chosen for investigating both the aerodynamic loads
as well as the commensurate wake responses behind the model: sinusoidal pitch at ˘3˝ , vertical
plunge at ˘5 mm, and horizontal displacement at ˘5 mm. The corresponding measurements were
taken at multiple motion cycle frequencies ranging from 1 to 20 Hz. Several known characteristics of
this platform were used to validate the force measurements, such as its drag coefficient, its static values
of drag, lift, and moment at fixed angles of attack, and its stability. The induced aerodynamic moment
on the body undergoing pitching motion is of the same sense as the pitch angle, and is unstable.
In contrast, the lift induced force on the body undergoing vertical plunge is of the opposite sense and
is stable. It is also shown that the higher frequency motions excite force responses with frequencies
that are of the order of the expected vortex shedding frequency of the model geometry. The ensuing
wake responses are measured and analyzed, using a triggering system incorporated into the traverse
trajectory controller and an external PIV system that resolved the wake development with a cycle
frequency of 20 Hz. The test results imply that the developed support mechanism can be used for
dynamic tests of various models, with time-resolved trajectory (and its derivatives), aerodynamic
loads, and the flow dynamics.

Supplementary Materials: The following are available online at http://www.mdpi.com/2226-4310/3/2/11/s1,

Video S1: f = 20 Hz, 3˝ pitch at U0 = 40 m/s; Video S2: f = 20 Hz, 5 mm, plunge at U0 = 40 m/s; and Video S3:
f = 20 Hz, 5 mm, streamwise displacement at U0 = 40 m/s. All videos are at 1/40 real time (6 frames per second
with 12 phases per cycle).
Acknowledgments: This work has been supported by Georgia Tech and the Army Research Office.
Author Contributions: Thomas J. Lambert, Bojan Vukasinovic, and Ari Glezer contributed equally to this work,
including conception, design, experiments, data analysis, interpretation, and writing.
Conflicts of Interest: The authors declare no conflict of interest.
Aerospace 2016, 3, 11 16 of 16

Abbreviations
The following abbreviations are used in this manuscript:

DOF degrees of freedom

PIV particle image velocimetry
CAD computer-aided design
NIR near infrared
UAV unmanned aerial vehicles
SLA stereo-lithography
AWG American wire gauge
EMI electromagnetic interference
DAQ data acquisition
UDP universal data protocol
PID proportional-integral-derivative
CV control volume
CG center of gravity

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