In this paper, a morphing carbon fibre composite aerofoil concept with an active trailing edge is proposed. This aerofoil features of camber morphing with multiple degrees of freedom. The shape morphing is enabled by an innovative structure driven by an electrical actuation system that uses linear ultrasonic motors (LUSM) with compliant runners, enabling full control of multiple degrees of freedom. The compliant runners also serve as structural components that carry the aerodynamic load and maintain a smooth skin curvature. The morphing structure with compliant truss is shown to exhibit a satisfactory flexibility and loading capacity in both numerical simulations and static loading tests. This design is capable of providing a pitching moment control independent of lift and higher L/D ratios within a wider angle-of-attack range. Such multiple morphing configurations could expand the flight envelope of future unmanned aerial vehicles. A small prototype is built to illustrate the concept, but as no off-the-shelf LUSMs can be integrated into this benchtop model, two servos are employed as actuators, providing two controlled degrees of freedom.

The authors were listed incorrectly in the article by Botez(1). The authors should have appeared in the following order:

A. Koreanschi, O. Sugar-Gabor and R.M. Botez

The article has now been updated with all authors listed in the correct order; this change has been made to the online version only.

The modification of aerofoils with structural morphing in order to enhance aerodynamic efficiency is an active field of research. The required forced and induced displacements are, usually, out the current developments on shape memory alloys, piezoelectric actuators or multi-stable structures for commercial transport aircraft applications. This work aims to present studies for obtaining an optimum rudder structure which morphs to a pre-defined curvature that can sustain aerodynamic and internal loads in a critical certification load case for a commercial transport aircraft. It also includes the feasibility of a morphing rudder based on a zero Poisson skeleton, or close to a zero Poisson ratio panel geometrical configuration that has no transverse deformation when perpendicularly loaded and which is produced with an additive layer manufacturing process.

The paper presents the results of the aerodynamic optimisation of an Unmanned Aerial System's wing using a morphing approach. The shape deformation of the wing is achieved by placing actuator lines at several positions along its span. For each flight condition, the optimal displacements are found by using a combination of the new Artificial Bee Colony algorithm and a classical gradient-based search routine. The wing aerodynamic characteristics are calculated with an efficient nonlinear lifting line method coupled with a two-dimensional viscous flow solver. The optimisations are performed at angles of attack below the maximum lift angle, with the aim of improving the Hydra Technologies UAS-S4 wing lift-to-drag ratio. Several configurations of the morphing wing are proposed, each with a different number of actuation lines, and the improvements obtained by these configurations are analysed and compared.

The actuation mechanism is a crucial aspect in the design of morphing structures due to the very stringent requirements involving actuation torque, consumed power, and allowable size and weight.

In the framework of the CRIAQ MD0-505 project, novel design strategies are investigated to enable morphing of aeronautical structures. This paper deals with the design of a morphing aileron with the main focus on the actuation technology. The morphing aileron consists of segmented 'finger-like' ribs capable of changing the aerofoil camber in order to match target aerodynamic shapes. In this work, lightweight and compact actuation kinematics driven by electromechanical actuators are investigated to actuate the morphing device. An unshafted distributed servo-electromechanical actuation arrangement is employed to realise the transition from the baseline configuration to a set of target aerodynamic shapes by also withstanding the aerodynamics loads. Numerical investigations are detailed to identify the optimal actuation architecture matching as well as the system integratability and structural compactness.

An experimental validation of an optimised wing geometry in the Price-Païdoussis subsonic wind tunnel is presented. Two wing models were manufactured using optimised glass fibre composite and tested at three speeds and various angle-of-attack. These wing models were constructed based on the original aerofoil shape of the ATR 42 aircraft and an optimised version of the same aerofoil for a flight condition of Mach number equal to 0.1 and angle-of-attack of 0°. The aerofoil's optimisation was realised using an ‘in-house’ genetic algorithm coupled with a cubic spline reconstruction routine, and was analysed using XFoil aerodynamic solver. The optimisation was concentrated on improving the laminar flow on the upper surface of the wing, between 10% and 70% of the chord. XFoil-predicted pressure distributions were compared with experimental data obtained in the wind tunnel. The transition position was estimated from the experimental pressure data using a second derivative methodology and was compared with the transition predicted by XFoil code. The results have shown the agreement between numerical and experimental data. The wind-tunnel tests have shown that the improvement of the laminar flow of the optimised wing is higher than the value predicted numerically.

The drag coefficient and the laminar-to-turbulent transition for the aerofoil component of a wing model are optimised using an adaptive upper surface with two actuation points. The effects of the new shaped aerofoils on the global drag coefficient of the wing model are also studied. The aerofoil was optimised with an ‘in-house’ genetic algorithm program coupled with a cubic spline aerofoil shape reconstruction and XFoil 6.96 open-source aerodynamic solver. The wing model analysis was performed with the open-source solver XFLR5 and the 3D Panel Method was used for the aerodynamic calculation. The results of the aerofoil optimisation indicate improvements of both the drag coefficient and transition delay of 2% to 4%. These improvements in the aerofoil characteristics affect the global drag of the wing model, reducing it by up to 2%. The analyses were conducted for a single Reynolds number and speed over a range of angles of attack. The same cases will also be used in the experimental testing of the manufactured morphing wing model.

Corrugated structures offer a potential solution for morphing wing skin applications due to their anisotropic behaviour that allows chordwise camber and length changes. Aerofoils with corrugated skins in the aft 1/3 of the chordwise section have been studied experimentally and computationally using various corrugation shapes and forms (sinusoidal, trapezoidal and triangular) at different Reynolds numbers. The study showed that the aerodynamic performance is highly dependent on corrugation amplitude, wavelength, gradient (combination of amplitude and wavelength) and Reynolds number. Evidence is given highlighting that penalties for having a non-smooth surface in the aft 1/3 of the chordwise section of an aerofoil can be eliminated for the lift curve slope and minimised for the zero lift drag coefficient.

The purpose of this paper is to discuss the future of adaptive structures leading towards the concept of a fully morphing aircraft configuration. First, examples are shown to illustrate the potential system-level mission benefits of morphing wing geometry. The challenges of design integration are discussed along with the question of how to address the optimisation of such a system. This leads to a suggestion that non-traditional methods need to be developed. It is suggested that an integrated approach to defining the work to be done and the energy to be used is the solution. This approach is introduced and then some challenges are examined in more detail. First, concepts of mechanisation are discussed as ways to achieve optimum geometries. Then there are discussions of non-linearities that could be important. Finally, the flight control design challenge is considered in terms of the rate of change of the morphing geometry. The paper concludes with recommendations for future work.

This paper reviews recent results on the mechanics and aerodynamics of perching in a large bird of prey, the Steppe Eagle Aquila nipalensis. Data collected using onboard and high-speed video cameras are used to examine gross morphing of the wing planform by the flight muscles, and smaller-scale morphing of the wing profile by aeroelastic deflection of the feathers, Carruthers et al. High-resolution still images are used to reconstruct the shape of the wing using multi-station photogrammetry, and the performance of the measured wing profile is analysed using a panel code, Carruthers et al. In bringing these lines of research together, we examine the role of aeroelastic feather deflection, and show that the key to perching in birds lies not in high-lift aerodynamics, but in the way in which the wings and tail morph to allow the bird to transition quickly from a steady glide into a deep stall.

A review of morphing concepts with a strong focus on morphing skins is presented. Morphing technology on aircraft has found increased interest over the last decade because it is likely to enhance performance and efficiency over a wider range of flight conditions. For example, a radical change in configuration, i.e. wing geometry in flight may improve overall flight performance when cruise and dash are important considerations. Although many morphing aircraft concepts have been elaborated only a few deal with the problems relating to a smooth and continuous cover that simultaneously deforms and carries loads. It is found that anisotropic and variable stiffness structures offer potential for shape change and small area increase on aircraft wings. Concepts herein focus on those structures where primary loads are transmitted in the spanwise direction and a morphing function is achieved via chordwise flexibility. To meet desirable shape changes, stiffnesses can either be tailored or actively controlled to guarantee flexibility in the chordwise (or spanwise) direction with tailored actuation forces. Hence, corrugated structures, segmented structures, reinforced elastomers or flexible matrix composite tubes embedded in a low modulus membrane are all possible structures for morphing skins. For large wing area changes a particularly attractive solution could adopt deployable structures as no internal stresses are generated when their surface area is increased.

A neuro-fuzzy controller method for smart material actuator (SMA) hysteresis modelling is presented, conceived for a morphing wing application. The controller correlates each set of forces and electrical currents that are applied to the smart material actuators with the actuator elongation. The actuator is experimentally tested for four forces, using a variable electrical current. The final controller is obtained through the Matlab/Simulink integration of three independent neuro-fuzzy controllers, designed for the increase and decrease of electrical current, and for null electrical current in the cooling phase of the actuator. This final controller gives a very small error with respect to the experimental values.

For aerodynamic design optimisation as well as for multidisciplinary design optimisation studies, it is very desirable to limit the number of the geometric design variables. In Ref. 1, a ‘fundamental’ parametric aerofoil geometry representation method was presented. The method included the introduction of a geometric ‘class function/shape function’ transformation technique, CST, such that round nose/sharp aft end geometries as well as other classes of geometries could be represented exactly by analytic well behaved and simple mathematical functions having easily observed physical features. The CST method was shown to describe an essentially limitless design space composed entirely of analytically smooth geometries. In Ref. 2, the CST methodology was extended to more general three dimensional applications such as wing, body, ducts and nacelles. It was shown that any general 3D geometry can be represented by a distribution of fundamental shapes, and that the ‘shape function/class function’ methodology can be used to describe the fundamental shapes as well as the distributions of the fundamental shapes. A number of applications of the ‘CST’ method to nacelles, ducts, wings and bodies were presented to illustrate the versatility of this new methodology. In this paper, the CST method is extended to include geometric warping such as variable camber, simple flap, aeroelastic and flutter deflections. The use of the CST method for geometric morphing of one geometric shape into another is also shown. The use of CST analytic wings in design optimisation will also be discussed.

This work considers the effects of camber morphing, both in magnitude and chord position, on the performance of a generic unmanned air vehicle (UAV). The focus is to maximise appropriate aerodynamic factors across the mission by optimising the wing camber. Specifically, the enhancement of range, endurance, and stall speed is sought by means of maximising their aerodynamic performance parameters, CL/CD, CL3/2/CD, and CLmax respectively. An analysis of the effects of camber morphing is carried out using the vortex panel code, XFOIL, utilising aerofoils from the NACA four-digit family. The results are then adjusted to account for 3D flow factors such as induced drag, offering a more realistic appraisal of their effectiveness. Flight testing is then performed on four wings of fixed aerofoil sections, optimised for each performance characteristic, to validate the trends observed in the XFOIL data onboard a 1·64m span aircraft.

The design of wings with morphing capabilities is known to give aerodynamic benefits. These aero-dynamic benefits come from both the use of hinge-less surfaces and the greater adaptability to flight conditions. This paper describes the structural design of a twisting wing to be used for an unmanned air vehicle (UAV) and presents finite element analysis and experiment results. This is part of a research project carried out at the University of Southampton in which one of the goals is to compare different novel wing designs and technologies to determine which one of them gives the best performance. The twisting capability provides roll control without hinged surfaces hence providing aerodynamic improvement. The wing is manufactured using polystyrene foam and is cut out of block of this material using a hot wire machine. In order to link this foam structure to a main spar, ABS plastic inserts were manufactured using a 3D printer. The mechanisms used to actuate the wing are also made from this material. A full scale UAV wing has been manufactured and tested in order to compare with FEA results.

The paper focuses on the modelling, simulation and control of an electrical miniature actuator integrated in the actuation mechanism of a new morphing wing application. The morphed wing is a portion of an existing regional aircraft wing, its interior consisting of spars, stringers, and ribs, and having a structural rigidity similar to the rigidity of a real aircraft. The upper surface of the wing is a flexible skin, made of composite materials, and optimised in order to fulfill the morphing wing project requirements. In addition, a controllable rigid aileron is attached on the wing. The established architecture of the actuation mechanism uses four similar miniature actuators fixed inside the wing and actuating directly the flexible upper surface of the wing. The actuator was designed in-house, as there is no actuator on the market that could fit directly inside our morphing wing model. It consists of a brushless direct current (BLDC) motor with a gearbox and a screw for pushing and pulling the flexible upper surface of the wing. The electrical motor and the screw are coupled through a gearing system. Before proceeding with the modelling, the actuator is tested experimentally (stand alone configuration) to ensure that the entire range of the requirements (rated or nominal torque, nominal current, nominal speed, static force, size) would be fulfilled. In order to validate the theoretical, simulation and standalone configuration experimental studies, a bench testing and a wind-tunnel testing of four similar actuators integrated on the real morphing wing model are performed.

A nonlinear aeroelastic model capable of assessing arbitrary morphing manoeuvres and calculating the associated morphing energy requirement is presented in this paper. The aeroelastic model consists of a close coupling between a corotational beam element, accounting for geometric nonlinearities, and a Weissinger method aerodynamic model, containing the Prandtl-Glauert correction for high-subsonic Mach numbers. The morphing deformations are discretised into three distinct morphing modes; fold morphing, twist morphing, and shear morphing, because of which virtually any morphed shape can be achieved, given a proper distribution of the three modes over the wing. The proposed aeroelastic morphing framework is used to design morphing winglets, and it has been shown that morphing winglets can improve the performance of fixed winglets significantly for regional airliners.

The present paper describes the design of a hybrid actuation control concept, a fuzzy logic proportional-integral-derivative plus a conventional on-off controller, for a new morphing mechanism using smart materials as actuators, which were made from shape memory alloys (SMA). The research work described here was developed for the open loop phase of a morphing wing system, whose primary goal was to reduce the wing drag by delaying the transition (from laminar to fully turbulent flows) position toward the wing trailing edge. The designed controller drives the actuation system equipped with SMA actuators to modify the flexible upper wing skin surface. The designed controller was also included, as an internal loop, in the closed loop architecture of the morphing wing system, based on the pressure information received from the flexible skin mounted pressure sensors and on the estimation of the transition location.

The controller’s purposes were established following a comprehensive presentation of the morphing wing system architecture and requirements. The strong nonlinearities of the SMA actuators’ characteristics and the system requirements led to the choice of a hybrid controller architecture as a combination of a bi-positional on-off controller and a fuzzy logic controller (FLC). In the chosen architecture, the controller would behave as a switch between the SMA cooling and heating phases, situations where the output current is 0A or is controlled by the FLC.

In the design phase, a proportional-integral-derivative scheme was chosen for the FLC. The input-output mapping of the fuzzy model was designed, taking account of the system’s error and its change in error, and a final architecture for the hybrid controller was obtained. The shapes chosen for the inputs’ membership functions were s -function, π-function, and z -function, and product fuzzy inference and the center average defuzzifier were applied (Sugeno).

In this paper, the multi-body dynamic model of an asymmetric variable sweep wing morphing UAV is built based on Kane’s method. This model describes the UAV’s transient behaviour during morphing process and the dynamic characteristic of the variable sweep wings. An integrated design of trajectory tracking control via constrained backstepping method is presented then. The idea of aircraft roll control through asymmetric wing sweep angle changes rather than traditional aileron is explored and used in the fight control design. The control of variable sweep wings is designed as well based on the presented dynamic model. Command filters are used in the backstepping design procedure to accommodate magnitude, rate and bandwidth constraints on virtual states and actuator signals. Stability of the closed-loop system can be proved in the sense of Lyapunov. Simulation of tracking a desired trajectory which contains two manoeuvres demonstrates the feasibility of the proposed protocol and the morphing wing roll controller.

The development of adaptive morphing wings has been individuated as one of the crucial topics in the greening of the next generation air transport. Research programs are currently running worldwide to exploit the potentiality of morphing concepts in the optimisation of aircraft efficiency and in the consequent reduction of fuel burn. Among these, SARISTU represents the largest European funded research project which ambitiously addresses the challenges posed by the physical integration of smart concepts in real aircraft structures; for the first time ever, SARISTU will experimentally demonstrate the structural feasibility of individual morphing concepts concerning the leading edge, the trailing edge and the winglet on a full-size outer wing belonging to a CS-25 category aircraft. In such framework, the authors intensively worked on the definition of aeroelastically stable configurations for a morphing wing trailing edge driven by conventional electromechanical actuators. Trade off aeroelastic analyses were performed in compliance with CS-25 airworthiness requirements (paragraph 25.629, parts (a) and (b)-(1)) in order to define safety ranges for trailing-edge inertial and stiffness distributions as well as for its control harmonics. Rational approaches were implemented in order to simulate the effects induced by variations of trailing-edge actuators’ stiffness on the aeroelastic behaviour of the wing also in correspondence of different dynamic properties of the trailing-edge component. Reliable aeroelastic models and advanced computational strategies were properly implemented to enable fast flutter analyses covering several configuration cases in terms of structural system parameters. Already available finite elements models were processed in MSC-NASTRAN® environment to evaluate stiffness and inertial distributions suitable for the stick-equivalent idealisation of the reference structure. A parametric stick-equivalent model of the reference structure was then generated in SANDY3.0, an in-house developed code, that was used for the definition of the coupled aero-structural model as well as for the solution of aeroelastic stability equations by means of theoretical modes association in frequency domain.

Obtained results were finally arranged in stability carpet plots efficiently conceived to provide guidelines for the preliminary design of the morphing trailing-edge structure and therein embedded actuators.