Abstract
Modeling and analysis of a coaxial helicopter’s dynamics is a demanding work because of the complex characteristics in rotor aerodynamics and swashplate mechanism. In this paper, a complete dynamic model for an unmanned coaxial helicopter is established which is proven accurate but simple enough for dynamic analysis and real time simulation. An 14-states aerodynamic model including flapping dynamics and induced velocities is derived considering interaction between rotors. The model is validated to have a good consistency with existed experimental and CFD results. After that, by introducing swashplate kinematics, actuator dynamics and rigid body dynamics, a complete model is constructed. Trim analysis is performed over a large range of forward flight speed, and the hovering performance is analyzed by calculating the necessary power and rotors’ figure of merit in different altitude and load. The coupling between heave and yaw motion is also analyzed to propose a decoupling strategy in control design.
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