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Abstract: - The helicopters have different aerodynamic characteristics according to their type; therefore different
mathematical models can be developed to represent their flying dynamics, which is very complex. In this paper we
develop a mathematical model for a helicopter with a principal rotor hub and a tail rotor configuration, which is used
to simulate the flying behavior of the helicopter and can be used to design a flight control system. The mathematical
model is a nonlinear six-equation system, in which for principal rotor motion and tail rotor motion a decoupled system
is established in order to obtain a complete helicopter-flying attitude. Some simulations are made using the
mathematical model under a specific flying condition.
ISBN: 978-960-474-257-8 27
Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
Fig. 1. Definition of the degrees of freedom of the helicopter, and the forces and
moments, due to the main rotor, the tail rotor and the gravity.
The subscript h, corresponds to a horizontal virtual Yaw moment or motor pair moment.
axis fixed respect to the center of gravity, while Roll moment.
subscript B corresponds to body coordinate of the
helicopter. Notice that the body and horizontal axis are Pitch moment.
equal in hover fly. Distance between helicopters center gravity
By small angles approximation the angular velocity and tail rotor principal rotation axis.
of the helicopter has components , and Gravity force.
Helicopter longitudinal acceleration over it
. The components of the disturbance linear
body axis.
speed are , and .
Helicopter lateral acceleration over it body
The helicopter has mass M and moments of inertia axis.
, , and , on the roll, pitch, and yaw axis Helicopter vertical acceleration over it body
axis.
respectively. The mass of the rotor is including in the
inertia of the helicopter. The fig. 1 also shows the , Angular acceleration and velocity for the roll
forces and moments acting upon the helicopter, the angle.
reactions in the main rotor head, the thrust of tail rotor, , Angular acceleration and velocity for the
and the force of gravity. The effects of the forces and pitch angle.
the moments originated by the fuselage, the horizontal , Angular acceleration and velocity for the
and vertical stabilizer are neglected.
yaw angle.
The differential equations for the degrees of
freedom of a rigid body are defined according to the 3 Forces and moments
developed equations of forces and moments: The main rotor have two mechanical coupled
M xB = H MgB controls, the collective pitch angle , and the cyclical
M yB = Y + Ttr + Mg B pitch control which has a longitudinal and lateral
M zB = T + Mg control and . The main thrust force (2), is
I x B I xzB (I y I z )B B I zxBB = M x + hY control by and , the corresponding longitudinal
I (I I ) + I I = M + hH
2 2 (4) and lateral (5) forces H and Y, are controlled in
y B z x B B zx B xz B y
combination by collective and cyclical controls ,
I z B I zxB (I x I y )BB + I xz BB = Q ltrTtr
and . Also helicopters have a power control,
(1)
Where: which can reduce or increase the rotor angular velocity
Longitudinal force. .
Lateral force.
Traction force for the main rotor. 1 1 1 1 1
T = bac2 R3 o + 2o B1 + (2)
Traction force for the tail rotor. 2 3 2 2 2
ISBN: 978-960-474-257-8 28
Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
Where:
The tail rotor, possess only collective pitch angle, Blade chord.
for controlling the thrust Ttr , which generates a force Air density.
in lateral direction against the rolling moment. The Main rotor and tail rotor disk ratio or
,
collective pitch control is a mechanism that changes blade length.
angle of tail rotor o tr , which is
the collective pitch Flapping blade coning angle.
directly proportional to the tail rotor thrust (3). Longitudinal and lateral flapping
,
1 2 3 1 1 2 1 coefficient.
Ttr = btr a trc trtr Rtr otr + tr otr + tr (3)
2 3 2 2 Number of Blades.
In the tail rotor thrust (3), the term corresponding to Collective pitch angle.
the lateral collective control does not appear as Lateral pitch cyclic control.
appear in (2), because the tail rotor does not have Longitudinal roll cyclic control.
cyclical pitch controls. Blade section two-dimensional lift-curve
The longitudinal force H and Lateral force Y are slope.
responsible for the correspondent longitudinal and Polar quadratic resistance.
lateral displacement, are determined by equations (4) Climb inflow ratio.
and (5). Axial inflow parameter.
1 1 1 3 1
H = abc 2 R 3 ao b1 + a1 + a1 o , Main rotor and tail rotor angular velocity.
2 2a 6 4 3
1 1 2 1 2 1 1 1 The roll moment M X
respect to the longitudinal
o + ao + a1 + ao A1 a1B1 + B1
2 4 4 6 4 4 axis x has been determined by:
(4) 1 1 1 1 1 3
M X = abc2 R4 o B1 + a1 2 B1
2 3 8 4 8 16
(7)
1 2 4 1 1 1 1
M Y = abc R A1 + 2 A1 + a o b1
(5) 2 8 16 6 8
(8)
The expression for rotor torque Q , which is the 1
2 b1
moment generated by the tangential force on the blade 16
element upon the rotation axis is defined as:
1 1 1 1 The equations (2), (3), (4), (5), (6), (7) and (8)
1+ 2 2 a1 o
( )
2
Q = abc 2 R 4 determine the forces and moments of a generic
2 4a 2 2 3
helicopter with tail rotor, for any flight conditions.
1 2 1 2 3 2 2 1 2 2 1 2 1
ao a1 a1 b1 b1 + ao b1
4 8 16 16 8 3 4 Mathematical Model
1 1 1 2 1 1
+ B1 a1B1 + a1B1 ao A1 + b1 A1
4 8 16 6 8 Replacing the equations (2), (3), (4), (5), (6), (7)
1 2 and (8) into equation (1), and solve it for the
+ b1 A1 acceleration components and angular accelerations
16
components, we obtain the system equation (9), which
(6) easily can be used to design a flight control system for
a helicopter, or autonomous radio controlled
helicopter. This system is a nonlinear mathematical
model for a generic helicopter, which tail rotor
configuration in flying attitude.
ISBN: 978-960-474-257-8 29
Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
(9
5 Model parameters
(13)
The Flapping parameters , and are
calculated by:
The blade inertia moment (assuming that the
(10) blade mass is constant), is calculates using equation
(14), and the moment due to the blade weight is
shown in equation (15).
(11)
(14)
(12) (15)
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Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
(25)
(20)
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Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
6 Simulations
For a rotation in Hover Flight, we increase or
decrease the collective pitch tail rotor angle .
If a
control is established then the yaw angle has to
become zero when reaches the desirable rotation yaw
angle over the time, otherwise will continue rotate as
seen in fig 2. Fig. 4. Longitudinal Flight.
Conclusions
The mathematical model is suitable for simulation
and control for a helicopter with tail rotor
Fig. 2. Rotation under a Hover flight. configuration, many advantages can be obtain if the
model is use for the control like an autonomous radio
For a Hover Flight no rotation can be appearing is
controlled helicopter or for automatic helicopter pilot,
doesnt be activated as shown in fig. 3. also for flying simulation study is suitable for built a
flying computer training program.
References
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Advances in Computational Intelligence, Man-Machine Systems and Cybernetics
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