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Multi-body Dynamics Modeling of Fixed-pitch Co-axial Rotor Unmanned Helicopter

S. Suzuki


In this paper, we derive a mathematical model of a fixed-pitch co-axial rotor unmanned helicopter by using a multi-body dynamics modeling technique. First, we consider the helicopter as rigid model which consists of 2 rigid bodies. We apply velocity transformation method to derive equation of motion of the helicopter. We assume that all the forces and moments  impressed into the helicopter are generated by co-axial rotors, and derive them in consideration of rotor aerodynamics. 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.

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