Helicopter Flight Dynamics
Helicopter Flight Dynamics
Helicopter Flight Dynamics
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For the calculation, the equations can be written in scalar form. The left side
of the equations are aerodynamic force and gravity.
The right side of the equations is the inertial force (moment) caused by
(angular) acceleration.
In the force equation, the cross product of vectors is the centrifugal force. In
the moment equation, the the cross product of vectors is the gyro moment.
The lift side is the summation of aerodynamic moments. In the right side, the first
item is the inertial moment caused by angular acceleration, the second item is the
gyro moment, and the third item is effect of centripetal force.
Lateral/yaw Motion
x tg cos y sin z
cos
sin
y
z
cos
cos
cos z sin y
X1
ZD
Z1
Summation
1.
2.
Stability Analysis
X f X , X ,t
X f X , X , U , t
3.
4.
Control Analysis
The aerodynamic forces on left side of the equations comes from the
contributions of main rotor, tail rotor, fuselage and empennage. They are
the functions of control and motion variants in the right side.
Especially,The controls, induced velocity and flapping motion are
implied in the items of main rotor and tail rotor aerodynamic forces.
Therefore, the governing equations are very complicated.
Feasibility
For the start time of external perturbation, the variation of motion is small
with respect to the reference steady state condition (trim condition) and can
be treated as linear variation approximately.
2.
1.
2.
3.
The right side of equations contains control derivatives. While the left side
contains the aerodynamic derivatives (stability and damping derivatives).
We can obtain the equations of studying helicopter stability by setting the right
side is equal to zero (no controls applied).
We can obtain the equations of studying helicopter response to given controls.