Attitude Control of a Small Coaxial Helicopter with a Bell Type Stabilizer Bar

Abstract

We analyzed the small coaxial helicopter recently developed for entertainment. The upper rotor is connected with a stabilizer bar alone and the lower rotor is not connected with it. The cyclic pitch of the upper rotor is controlled by this stabilizer bar, and that of the lower rotor is controlled by servo motors. We investigated how this stabilizer bar varies the cyclic pitch of the upper rotor and how it contributes to attitude control of a fuselage.