2A1-H09 Modeling and Motion Analysis of Co-axial Rotor Unmanned Helicopter(Aerial Robot and Mechatronics(1))

Abstract

In this paper, we derive a mathematical model of a co-axial rotor unmanned helicopter, and we analyze the motion of the helicopter by using the derived model. First, we derive equations of motion of the helicopter by using velocity transformation method which is one of the multi-body dynamics modeling techniques. Forces and moments generated by the rotor are derived based on the aerodynamics of the rotor. Then, we verify the model by comparing the flight experiment data with model output. Finally, the motion analysis using the model is conducted to establish the behavior of the helicopter.