Publication

Abstract : Compared with those of a fixed-wing aircraft, the dynamics of a rotorcraft are significantly more complex. One of the major challenges in the design of an autonomous helicopter is the development of a flight dynamic model, which can be useful for simulation studies and for the design of control law and navigational aspects. There is always a trade-off from the accuracy of the mathematical model to the more simplified model required for a control design as far as the helicopter rotor/fuselage dynamics is concerned. Small-scale helicopters posses a higher bandwidth of dynamics; hence, models developed from the first principle alone do not fulfill the needs, and more-sophisticated mathematical models are thus required. The main objective of the present work is to improve the parameterized identification model by replacing it with a most-general flight dynamic model for a minihelicopter. This model includes the rotor blade flap dynamics, stabilizer bar dynamics, and vehicle dynamics, which will be applicable for a general maneuvering flight. A systematic study is undertaken to analyze the influence of inflow models and flap response on the helicopter trim. Stability of the minihelicopter is also analyzed; except for phugoid, all other modes are stable in hover and high forward flight conditions.