The dynamics and control of a remotely piloted plan-symmetric helicopter

Abstract

Prior to the development of a production standard control system
for ML Aviation's plan-symmetric remotely piloted helicopter
system, SPRITE, optimum solutions to technical requirements had yet
to be found for some aspects of the work. This thesis describes an
industrial project where solutions to real problems have been
provided within strict timescale constraints. Use has been made of
published material wherever appropriate, new solutions have been
contributed where none existed previously.
A lack of clearly defined user requirements from potential Remotely
Piloted Air Vehicle (RPAV) system users is identified, A
simulation package is defined to enable the RPAV designer to
progress with air vehicle and control system design, development
and evaluation studies and to assist the user to investigate his
applications.
The theoretical basis of this simulation package is developed
including Co-axial Contra-rotating Twin Rotor (CCTR), six degrees
of freedom motion, fuselage aerodynamics and sensor and control
system models. A compatible system of equations is derived for
modelling a miniature plan-symmetric helicopter. Rigorous searches
revealed a lack of CCTR models, based on closed form expressions to
obviate integration along the rotor blade, for stabilisation and
navigation studies through simulation. An economic CCTR simulation
model is developed and validated by comparison with published work
and practical tests. Confusion in published work between attitude
and Euler angles is clarified.
The implementation of
package is discussed.
dynamic adjustment of
assessment.
the theory into a high integrity software
Use is made of a novel technique basing the
integration time step size on error
Simulation output for control system stability verification, cross
coupling of motion between control channels and air vehicle
response to demands and horizontal wind gusts studies are
presented.
Contra-Rotating Twin Rotor
Flight Control System
Remotely Piloted Plan-Symmetric Helicopter
Simulation
Six Degrees of Freedom Motion
( i i)

Date of Award	1986
Original language	English
Supervisor	R.C. Johnson (Supervisor)