Proceedings ArticleDOI
Comprehensive Modeling and Analysis of an Unmanned Coaxial Helicopter
Xiaming Yuan,Jihong Zhu +1 more
TLDR
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.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.read more
Citations
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Journal ArticleDOI
Inverse dynamic modeling and analysis of a coaxial helicopter’s swashplate mechanism
Xiaming Yuan,Jihong Zhu +1 more
TL;DR: In this paper, the authors applied virtual work to the inverse dynamic modeling of a coaxial helicopter's swashplate mechanism and derived the equations of equilibrium about the two submodules based on the principle of virtual work and then combined to achieve the complete inverse dynamic model.
Journal ArticleDOI
Simultaneous Robust Control and Sensor Fault Detection for a Ducted Coaxial-Rotor UAV
TL;DR: The detailed nonlinear mathematical model of the hovering flight UAV is presented, and a new method is proposed by designing two different systems simultaneously as detector and controller by constructing a new matrix decomposition form.
Journal ArticleDOI
Research on a combinatorial control method for coaxial rotor aircraft based on sliding mode
TL;DR: Simulation and experiment compared with the conventional PIDC are carried out, the results demonstrate the effectiveness and the robustness of the proposed control method of this paper.
Journal ArticleDOI
Flexible performance design for the H∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter
TL;DR: In this article, a new H∞ loop-shaping control is introduced to decrease the complexity of the appropriate selection of the required performance for a coaxial rotor helicopter with unpredicted or unknown unstructured uncertainties.
Journal ArticleDOI
Flexible Performance Design of Robust Control Using the Linear Matrix Technique for a Robotic Coax-Helicopter
TL;DR: In this paper, a parametric loop shaping control for a robotic coax-helicopter using linear matrix inequality was proposed. But the design procedure of a new parametric $${H_\infty }$$ loop shaping controller was not addressed.
References
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Book
Principles of Helicopter Aerodynamics
TL;DR: A history of helicopter flight can be found in this paper, where the basic helicopter aerodynamic properties are discussed and a detailed analysis of the rotor blade motion is presented, as well as a detailed discussion of the rotor wakes and tip vortices.
Book
Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modelling
TL;DR: In this article, the authors present a new chapter on degraded flying qualities, drawing examples from flight in poor visibility, failure of control functions, and encounters with severe atmospheric disturbances, and fully embracing the consequences of degraded flying quality during the design phase will contribute positively to safety.
Book
Bramwell's Helicopter Dynamics
TL;DR: The second edition of Helicopter Dynamics by A.R. Bramwell as mentioned in this paper provides a detailed summary of helicopter aerodynamics, stability, control, structural dynamics, vibration, and aeroelastic and aeromechanical stability.