The aerodynamics of hovering insect flight. V. A vortex theory

Abstract A full derivation is presented for the vortex theory of hovering flight outlined in preliminary reports. The theory relates the lift produced by flapping wings to the induced velocity and power of the wake. Suitable forms of the momentum theory are combined with the vortex approach to reduce the mathematical complexity as much as possible. Vorticity is continuously shed from the wings in sympathy with changes in wing circulation. The vortex sheet shed during a half-stroke convects downwards with the induced velocity field, and should be approximately planar at the end of a half-stroke. Vorticity within the sheet will roll up into complicated vortex rings, but the rate of this process is unknown. The exact state of the sheet is not crucial to the theory, however, since the impulse and energy of the vortex sheet do not change as it rolls up, and the theory is derived on the assumption that the extent of roll-up is negligible. The force impulse required to generate the sheet is derived from the vorticity of the sheet, and the mean wing lift is equal to that impulse divided by the period of generation. This method of calculating the mean lift is suitable for unsteady aerodynamic lift mechanisms as well as the quasi-steady mechanism. The relation between the mean lift and the impulse of the resulting vortex sheet is used to develop a conceptual artifice - a pulsed actuator disc - that approximates closely the net effect of the complicated lift forces produced in hovering. T he disc periodically applies a pressure impulse over some defined area, and is a generalized form of the Froude actuator disc from propeller theory. The pulsed disc provides a convenient link between circulatory lift and the powerful momentum and vortex analyses of the wake. The induced velocity and power of the wake are derived in stages, starting with the simple Rankine-Froude theory for the wake produced by a Froude disc applying a uniform, continuous pressure to the air. The wake model is then improved by considering a ‘modified’ Froude disc exerting a continuous, but non-uniform pressure. This step provides a spatial correction factor for the Rankine-Froude theory, by taking into account variations in pressure and circulation over the disc area. Finally, the wake produced by a pulsed Froude disc is analysed, and a temporal correction factor is derived for the periodic application of spatially uniform pressures. Both correction factors are generally small, and can be treated as independent perturbations of the Rankine-Froude model. Thus the corrections can be added linearly to obtain the total correction for the general case of a pulsed actuator disc with spatial and temporal pressure variations. The theory is compared with Rayner’s vortex theory for hovering flight. Under identical test conditions, numerical results from the two theories agree to within 3%. Rayner presented approximations from his results to be used when applying his theory to hovering animals. These approximations are not consistent with my theory or with classical propeller theory, and reasons for the discrepancy are suggested.