In this work, a modular simulation model for micro helicopters in coaxial rotor configuration is presented. The model allows for simulation of the different steering mechanisms 'swash plate' and 'center of gravity shifting', which are the most prominent choices in the domain of micro helicopters. A special feature of the model is that its governing equations are expressed with formulations explicitly containing design parameters. On the one hand, this complicates the derivation of these equations and creates lengthy expressions that are hard to display. On the other hand, however, the model can be used to study the influence of the design parameters in various respects, e.g. flight stability, disturbance rejection or response behavior to control inputs. Due to the modular nature of the model, it can be easily switched between the two steering principles for these considerations. The simulation model contains three main modules, which are the hingeless rotor module, the swash plate steering module, and the center of gravity steering module. Governing equations for the first two are derived by using a substitute model for a hingeless rotor by establishing the moment equilibrium around the flapping hinge. The three contributions commonly accounted for in literature, i.e. aerodynamic, inertial and centrifugal moment, are extended by a spring moment representing blade flapping stiffness. This equilibrium is solved for the rotor flapping angles, which allow for calculation of the corresponding rotor forces and moments. The equations of motion describing the center of gravity displacement steering are derived using a Lagrange-Euler energy approach. Again, due to the multiple time derivatives, the resulting six equations of motion are very lengthy, however, they incorporate design parameters of the helicopter like the distance between helicopter and displaceable mass center of gravity or the ratio between helicopter mass and displaceable mass. Moreover, the implementation in Matlab/Simulink can be run within acceptable time limits.
Modular simulation model for coaxial rotary wing MAVs
Modulares Simulationsmodell für Mikroluftfahrzeuge mit Gegenlaufrotoren
2010
27 Seiten, 10 Bilder, 19 Quellen
Aufsatz (Konferenz)
Englisch
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