1

Flight Dynamic Modeling and Trim

Analysis of Mini Helicopter
B.Seenu
Y5101004
Department of Aerospace Engineering
Indian Institute of Technology
Kanpur
Thesis Supervisor
Prof. C. Venkatesan
2
Introduction

Coordinate Systems

Blade Inertia/Aerodynamic Loads

Blade Flap Equation

Flight Dynamic Equations

Trim Equations

Results and Discussions

Conclusion/ Future work
CONTENTS
3
INTRODUCTION

UAVs




Fixed Wing Rotary Wing
4
Advantages of UAVs:
Military surveillances
Remote sensing/Agricultural spraying
Meteorological measurements at high altitude
Aircrew training and support costs
They reduce the aircrew risk

Features of Mini Helicopter:
Variable rpm
Stabilizer bar to increase the stability
VTOL, Hovering





5
Literature Review
Kim et. al.,(1998) Developed a non-linear model, particularly focused on
effect fly bar on helicopter stability.

Cunha et. al.,(2003)-Developed a mathematical model for model scale
helicopter with interaction between main rotor and stabilizer bar. Hover
flight test.

Mini helicopter development in IIT-Kanpur
Prasanth (2004)- Developed the flight dynamic equation for autonomous mini
helicopter. Obtained only trim results for hover flight.

Pradeep (2005)- He extended the previous work and obtained the trim and
stability results for hover and forward flight conditions. Flap dynamics not
included in the formulation.




6
My work:
Flight dynamic model for general maneuvering flight
Rotor flap dynamics
Dynamic inflow model (radius, azimuth angle, time)
Gust effects
Steps:
1. Blade inertia loads
2. Blade aerodynamic loads
3. Blade flap equation
4. Forces and moments acting at the C.G. of the fuselage
Main rotor loads
Tail rotor load
Horizontal tail plate
Vertical tail plate


7
HELICOPTER DYNAMICS
VERTICAL FIN
HORIZONTAL
PLATE
TAIL ROTOR
MAIN ROTOR DRAG FORCE
Hub Loads Due to All Blades
Blade Root Loads
Sectional Inertia & Aerodynamic
Loads on Blade
Forces and Moments on Fuselage
STABLIZER
BAR
8
Idealizations of the Model Helicopter

Blades are assumed symmetric airfoil cross section

Fuselage and rotor shaft are rigid

Blade is modelled as rigid blade with hinge offset (e)

Root spring attached at hinge undergoing only flap motion

Drees inflow model

Vertical fin and Tail plate with symmetric airfoil


9
Coordinate Systems

R - Hub fixed inertial system

l - Non-inertial hub fixed non rotating system

2K - Hub fixed rotating system. Rotates with Kth blade

3K - Origin at hinge offset, parallel to 2-system. system rotates
with Kth blade

4K - Origin on elastic axis of Kth Blade and positioned
in cross section of blade

- Origin at elastic axis of Kth blade and positioned in cross
section of blade

s1- Origin at CG of the Helicopter. Parallel to 1 system

, q,
10
R - Hub fixed inertial system
Coordinate Systems
1 and 2K systems 3K and 4K systems
1-Non inertial hub fixed non rotating system
11
Coordinate Systems
Body fixed coordinate system
2k and 3k coordinate systems
12
Coordinate Systems

4k and coordinate systems with origin on elastic axis
13
Blade Inertia Loads
Position vector of point P
2 3 3

p x k k x k z k
r e e x e w e e e
q ,
q , = + + + +
Acceleration of point P
( )
2
pk h pk k pk k pk k k pk
a a r r r r e e e e = + + + +
Accl. of hub centre
Rel accl. of point P
Coriolis Acceleration
Angular Acceleration
Centripetal Acceleration
14
Blade Inertia loads
}}
=
T
A
pk Ik
dA a p
Distributed inertia forces
Inertia forces at blade root
3 3
0
R e
Iy k Iy k k
P p dx

=
}
3 3
0
R e
Iz k Iz k k
P p dx

=
}
3 3
0
R e
Ix k Ix k k
P p dx

=
}
Inertia moments at blade root
3 3
0
R e
Ix k k k Iy k k
Q x p dx |

=
}
3 3 3
0
( )
R e
Iy k k Iz k k Ix k k
Q x p x p dx

=
}
3 3
0

=
}
R e
Iz k k Iy k k
Q x p dx
15
Blade Inertia Loads
Transforming these loads into 1-syatem


1 12 23 3
[ ][ ]
I I k
P T T P =
1 12 23 3
[ ][ ]
I I k
Q T T Q =
N
k=1
P = P
I1n I1

N
k 1
Q Q
I1n I1
=
=

These loads are acting at the origin of the 1-system. Total load due to all the
blades are obtained by summing up the loads due to all blades
16
Blade Inertia Loads
2
1 1 1
0
1
2
I H I n k
P P d
t

t
=
}
2
1 1 1
0
1
2
I H I n k
Q Q d
t

t
=
}
The average inertia loads acting at the hub in one
revolution

Since 1-system s1 system are parallel, the main rotor inertia loads acting
at CG of the helicopter in s1 can be written as
1 1 1
= P P
Is I H
1 1 1 1 1
= + Q Q r P
Is I H I H ph
1 1 1

= + +
z x y
s s s ph
r h i h j h k
The distance from CG to hub centre,
17
Blade Aerodynamic Loads
Expression for Circulatory and Non-circulatory Lifts and Moment (Theodorsons
unsteady aerodynamic theory )
( ) [ ( ) ]
4 4 4
= + O L ab V V V b X
a
A Ck y k z k y k Gk Gk
u u
1
2 2
[ ( ) ]
4 4 4 2 2
= O O
b
L ab V V V X
a
A NCk z k y k Gk y k Gk Gk
u u u
( ) [ ( ) ]
4 4 4
1
2
[( )(
4 4 4 2 2
2
2 2
( ) )]
4 2 2 8
= + O
+ O
O + O O
M ab V X V V b X
a
A A y k z k y k Gk Gk
b
b X V V V
a
A z k y k Gk y k Gk
b b b
X V
A Gk y k Gk Gk
u u
u u
u u u
Drag force is given by
2 2 0
( )
4 4
(

= +
C
d
D ab V V
a
a
k y k z k

D
k
18
Blade Aerodynamic Loads

0
(1 cos sin ) tan
x y
r r
K K
R R
= + + + o
Drees Inflow Model
0
is the mean induced velocity
0
2 2
2
total
C
T

+
=
2 2
1 1
= + V V
x k y k
is the advance ratio
4
2 2
[(1 1.8 ) 1 ( ) ( )], 2
3
total total
K K
x y



= + =

2 2
tan
2
T
total
total
C

= o+
+
19
Blade Aerodynamic Loads
Aerodynamic Loads at Blade Root
1
2
1
2
1
2
3 3
3 3
3 3
R
R
R
R
R
R
P p dx
Ax k k Az k k
P p dx
Ay k Ay k k
P p dx
Az k Az k k
| =
}
=
}
=
}
1
2
3 3
R
R
Q x p dx
Ax k k k Ay k k
| =
}
1
2
) (
3 3 3
R
R
x
k k
Q x p p dx
Ay k k Az k Ax k k
| + =
}
1
2
3 3
=
}
R
R
Q x p dx
Az k k Ay k k
,
1 2
= = R R e R R e
A
where
20
Blade Aerodynamic Loads
2
1 1 1
0
1
2
A H A n
P P d
k
t

t
=
}
2
1 1 1
0
1
2
A H A n
Q Q d
k
t

t
=
}
1 1 1
=
As A H
P P
1 1 1 1 1
= +
As A H A H ph
Q Q r P
Mean aerodynamic loads acting at hub is obtained as


The main rotor aerodynamic loads acting at CG of helicopter

21
3 3
0
Iy k Ay k K
Q Q M
|
+ + =
0 1 1
cos sin
Gk c k s k
u u u u = + +

The geometric pitch angle is defined as
k ke k
(t) | =| +A|
ke 1c k 1s k
Cos Sin
o
| =| +| +|
The blade flap response is represented by
Moment equilibrium at the hinge of
the main rotor blade
Flap Equation Motion
22
Flap equation of Motion
Substituting in flap equation then apply the operator method,
one obtains the flap response coefficients and


o 1c
, | |
1s
|
ke
|
( )
( )
( )
2
0
2
0
2
0
1
... 0
2
1
... cos 0
1
... sin 0
k
k k
k k
d
d
d
t
t
t

t

t

t
=
=
=
}
}
}
{ }
1 1
[ , , ]
T
o c s
X | | | =
| | { } | |
3 1 3 3 3 1
A X B

=
Where
23
Forces and Moments on Fuselage

2 2

1
[ ( ) ] = O
t Tt t t t
e
ys
T C R R t
0 2 0
3
[ (1 ) ( )]
2 3 2 2
+
= +
ytr
T
t T
t
Tt
V
a
C

u
o

Tail rotor thrust
The moment at the CG due to tail rotor thrust
1 1

= +
t t t t t
xs zs
M zTe xTe
2 2
2 ( )
Tt
oT
T ytr oT
C
V

=
+ +
24
Forces and Moments on Fuselage


Horizontal plate and Vertical fin system
Forces and Moments using lift expression
2
1
2
=
a L
L V SC
Parasite drag
2
1
2
a fa d
D V S C =
Drag force acts in the direction opposite to the velocity vector
fa
S
Fuselage frontal area

Fuselage drag coefficient d
C
25
Forces and Moments on Fuselage

1 1 1 1 1 1 1
= + +
s xs xs ys ys zs zs
P P e P e P e
1 1 1
1 1 1
1 1 1
= + +
= + + + +
= + + +
xs Ixs Axs x
ys Iys Ays y t vt
zs Izs Azs z ht
P P P D
P P P D T L
P P P D L
1 1 1 1 1 1 1
= + +
s xs xs ys ys zs zs
Q Q e Q e Q e
1 1 1
1 1 1
1 1 1
= + +
= +
= + + +
xs Ixs Axs t t h ht v vt
ys Iys Ays h ht
zs Izs Azs t t v vt
Q Q Q z T y L z L
Q Q Q x L
Q Q Q x T x L
External Force at the CG of the helicopter
External Moment at the CG of the helicopter
26
Flight Dynamic Equations
Helicopter is treated as a rigid body doing a complicated manoeuvre
flight
General manoeuvring flight condition
b
x
b
z
b
y

f
horizon

ae
V
f
29
Flight Dynamic Equations

Kinematic relations
ea
y
1
y j
ea
z k
ea
x
1
x i

1
1
ea
z z
k
=
1 1
y j
2 2
x i
1 1
x i
2 2
z k
u
2 2
z k
2 2
y j
2
i
b b
z k
|
2 b
x x =
YAW
PITCH
ROLL
h h h
p= - sin |
h h h h h
q= cos + sin cos | |

h h h h h
r= sin + cos cos u | |
b
x
b
z
b
y
1 s
y
1 s
z
1 s
x
CG
30
Flight Dynamic Equations

( )
2
= O + +
x f f h
F m R u - r v qw m g sinu
( )
2
= O +
y f f h h
F m R v - pw r u - m g sin cos | u
( )
2
= O +
z f f h h
F m R w- qu pv - m g cos cos | u
2
[ ( ) ( )] = O +
x xx xz yy zz
M I p I r q p qr I I
2 2 2
[ ( ) ( )] = O
y yy xz zz xx
M I q I r p r p I I
2
[ ( ) ( )] = O
z zz xz xx yy
M I r I p qr pq I I
Force Equations
Moment Equations
31
Trim Equations

Perturbation approach

All the degrees of freedom are expressed as constant and time
varying terms

These are substituted in force and moment equations.

Trim equations are obtained by separating the constant terms
= + A = A
= + A = A
= + A = A
= + A = A
= + A = A
= + A = A
e
e
e
e
e
e
u u u u u
v v v v v
w w w w w
p p p p p
q q q q q
r r r r r
h he h
h he h
h he h
u u u
| | |

= + A
= + A
= + A
Gk Gke Gk
u u u = + A
32
Trim Equations

2
2
2
[ ] sin
[ ] sin cos
[ ] cos cos
= O + +
= O +
= O +
xE f e e e e f he
yE f e e e e f he he
zE f e e e e f he he
F Rm r v q w m g
F Rm p w u r m g
F Rm q u p v m g
u
| u
| u
2
2 2 2
2
[ ( ) ( )]
[ ( ) ( ) ]
[ ( ) ( ) ]
= O
= O
= O
xE xz e e e e yy zz
yE xz e e zz xx e e
zE xz e e xx yy e e
M I p q q r I I
M I r p I I r p
M I q r I I p q
Trim Equations
Blade Equilibrium Equation
3 3
( ) ( ) ( ) 0
Iy k e Ay k e e
k
Q Q M
|
+ + =
33
Trim Analysis

Input data,Forward speed
Control and attitude angles
, , 1 , 1 , , , ,
,
fe o c s ot he he
V W u u u u u |
, o total

, 1 , 1 o c s
| | |
Solve the Inflow Equation
Solve the Blade Flap Equation
Solve the Force and
Moment equations
Check the Trim condition
34
Mass ( kg) 8.2 Radius main rotor (m) 0.8
(rad/s)
146
I
xx
(kg m
2
) 0.21 Radius tail rotor (m) 0.15
(rad/s)
628
I
yy
(kg m
2
) 0.41 Chord main rotor (m) 0.064 e 0.085
I
zz
(kg m
2
) 0.65 Chord tail rotor (m) 0.03 a 5.73
I
xz
(kg-m
2
)

0.0 h
z
(m) -0.325 0.01
Fuselage frontal area

0.0704 h
x
,h
y
(m)

0.0

1.0
(Hz) 11 Mass of the blade (kg)

0.186

2
( )
fa
S m
O
t
O
Mini Helicopter data
0 d
C
d
C
NR
e
35
Results

0 5 10 15 20 25 30
-1
0
1
2
3
4
5
6
7
8
9
10


C
o
n
t
r
o
l

a
n
g
l
e
s
(
d
e
g
)
Forward speed(m/sec)
u
o
u
1c
u
1s
u
ot
0 5 10 15 20 25 30
-14
-12
-10
-8
-6
-4
-2
0
2
4
6


A
t
t
i
t
u
d
e

a
n
g
l
e
s
(
d
e
g
)
Forward speed(m/sec)
u
he
|
he
Rigid Blade with no flapping motion:
Control angles and attitude variation with forward speed
36
Results

Total inflow and Power required variation with forward speed
Rigid blade with no flapping motion:
0 5 10 15 20 25 30
0.015
0.020
0.025
0.030
0.035
0.040
0.045
0.050


T
o
t
a
l

i
n
f
l
o
w
(
N
o
n

d
i
m
e
n
s
i
o
n
a
l
)
Forward speed(m/sec)
0 5 10 15 20 25 30
400
600
800
1000
1200
1400
1600


P
o
w
e
r

r
e
q
u
i
r
e
d
(
w
a
t
t
s
)
Forward speed(m/sec)
37
Results

Rigid blade with flapping motion:
0 5 10 15 20 25 30
-1
0
1
2
3
4
5
6
7
8
9
10


C
o
n
t
r
o
l

a
n
g
l
e
s
(
d
e
g
)
Forward speed(m/sec)
u
o
u
1c
u
1s
u
ot
0 5 10 15 20 25 30
-14
-12
-10
-8
-6
-4
-2
0
2
4
6
8


A
t
t
i
t
u
d
e

a
n
g
l
e
s
(
d
e
g
)
Forward speed(m/sec)
u
he
|
he
Control angles and attitude variation with forward speed
K
|
=189.54Nm
=
NR
e 11Hz
2
0.0704
fa
S m =
38
Results

0 5 10 15 20 25 30
0
200
400
600
800
1000
1200
1400
1600


P
o
w
e
r

r
e
q
u
i
r
e
d
(
w
a
t
t
s
)
Forward speed(m/sec)
e
NR
=0Hz
e
NR
=11Hz
e
NR
=100Hz
e
NR
=200Hz
Effect of flap stiffness on power required
39
Results
Effect of fuselage frontal area:

2
1
2
a fa d
D V S C =
fa
S
Fuselage frontal area =

=1 Fuselage drag coefficient d
C
2
( ) 0.01
fa
S
R t
=
For big helicopter (Fuselage frontal area/Rotor area)
Based on this ratio the new frontal area is calculated
2
0.01 0.8
fa
S t =
Power = Parasite power (fuselage drag) + Induced power + Tail rotor power
2
0.0704m
2
0.0201
fa
S m =
40
Results

0 5 10 15 20 25 30
-1
0
1
2
3
4
5
6
7
8
9
10
11


C
o
n
t
r
o
l

a
n
g
l
e
s
(
d
e
g
)
Forward speed(m/sec)
u
o
u
1c
u
1s
u
ot
Control angle variation with and blade flapping
2
0.0201
fa
S m =
41
Results

0 5 10 15 20 25 30
-14
-12
-10
-8
-6
-4
-2
0
2
P
i
t
c
h

a
t
t
i
t
u
d
e
(
d
e
g
)
Forward speed(m/sec)
No Flap,s
fa
=0.0704
s
fa
=0.0704,e
RF
=1.18
s
fa
=0.0201,e
RF
=1.18


Variation in pitch attitude due to fuselage frontal area
42
Results

0 5 10 15 20 25 30
400
600
800
1000
1200
1400
1600
P
o
w
e
r

r
e
q
u
i
r
e
d
(
w
a
t
t
s
)
Forward speed(m/sec)
No Flap,s
fa
=0.0704
s
fa
=0.0704,e
RF
=1.18
s
fa
=0.0201,e
RF
=1.18


Variation in power required due to fuselage frontal area
43
Concluding Remarks

Developed a flight dynamic equations for a mini helicopter, from first principles.

Using the dynamic equations the trim characteristics of mini helicopter is
analyzed.

The results of the present study indicate that

The blade flapping decreases the pitch attitude of the helicopter by a small
amount at all forward speeds.

The reduction in fuselage frontal area is affecting significantly pitch attitude
and the power required for flight.

The increase in non-rotating flap frequency shows that the trim settings
approach those corresponding to rigid blade condition in an asymptotic
manner.

44
Future work


Wind tunnel test is to be carried out to estimate the drag characteristics of the
mini helicopter fuselage.

Using the dynamic equations of motion one can do stability analysis of mini
helicopter.

Model can be used for flight control studies.

Development of a simulator model for autonomous flight.
45
References

Venkatesan, C., Lecture notes on Helicopter Technology, Department of
Aerospace Engineering, IIT Kanpur 2001.

Padfield, G., Helicopter Flight dynamics: The Theory and Application of Flying
Qualities and Simulation Modeling, AIAA Education Series, U.S.A.1996

Kim, S.K. and Tilbury, D.M., Mathematical Modeling and Experimental
Identification of a Model Helicopter, AIAA Modeling and Simulation
Technologies Conference and Exhibit, Boston, MA, Aug. 10-12, 1998

Cunha, R. and Silvestre, C., SimModHeli: A dynamic Simulator for Model-
Scale Helicopter, The 11th IEEE Mediterranean Conference on Control and
Automation, Rhodes, Greece, June18-20, 2003.

Venkatesan, C. and Friedmann, P., Aeroelastic Effects in Multi-Rotor Vehicles
with Application to a Hybrid Heavy Lift System, NASA CR- 3822, 1984.

Pradeep, Y., Flight Dynamic Modeling and Analysis of a Mini Helicopter for
Trim and Stability, M.Tech Thesis, Department of Aerospace Engineering,
July2006, IIT Kanpur.
46




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