Abstract
The dynamics of the swashplate mechanism of the CL-327, anUnmanned Aerial Vehicle (UAV) with a Vertical Take-Off-and-Landing(VTOL) ability is discussed in this paper, the underlying kinematicshaving been discussed in an earlier paper. The CL-327 (Guardian)is currently under production by Bombardier Services-Defence, and isconsidered the world's most versatile and advanced VTOL system inproduction. The steering control mechanism used in all helicopters,including the CL-327, is a complex multiloop kinematic chain oftencalled the swashplate mechanism. In this paper a dynamic analysis of theparticular design used for the swashplate of the CL-327 is discussed.The Newton–Euler formulation is used in conjunction with the naturalorthogonal complement in order to derive the equations of motion of thesystem.
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