Abstract
The toy model coaxial helicopter for entertainment has a characteristic that it goes left when the operation for forward motion is made with the controller. The reason for this characteristic was made clear as follows: The phase difference between cyclic pitch and flapping motion is varied with the forward velocity. For this helicopter, the azimuth angles for the cyclic pitch inputs to the lower rotor are determined for a hovering flight. Then, the tip path plane of the lower rotor is inclined to the left and forward, when the operation for forward motion is kept. And the fuselage moves to the left and forward. On the other hand, during the forward motion, the inclination of the tip path plane of the upper rotor is varied by the stabilizer bar, whose motion is mainly determined by the fuselage attitude. Then, there are both moments when the upper rotor suppresses the fuselage motion generated by the lower rotor and when it promotes the fuselage motion.
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