Item 1088
DESIGN: UniCopter ~
Trim, Stability & Control - Control - Equations
Control:
|
Longitudinal Cyclic |
A1 = |
(A1P + A1S) / 2 |
|
|
Lateral Cyclic |
B1 = |
(B1P - B1S) / 2 |
|
|
Collective |
θ 0 = |
(θ 0P + θ 0S) / 2 |
|
|
Differential Longitudinal Cyclic |
A1' = |
(A1P - A1S) / 2 |
|
|
Differential Lateral Cyclic |
B1' = |
(B1P + B1S) / 2 |
|
|
Differential Collective |
Δθ 0 = |
(θ 0P - θ0S) / 2 |
Blade Pitch:
|
Port Rotor |
θ P = |
(θ 0 + Δθ0) - (A1 + A1') * cos(ψP + Γ) - (B1 + B1') * sin(ψP + Γ) |
|
|
Starboard Rotor |
θ S = |
(θ 0 - Δθ0) - (A1 + A1') * cos(ψS + Γ) - (B1 - B1') * sin(ψS + Γ) |
The basis of the above equations is from Rigid Coaxial (ABC) Rotor System Stability & Control Characteristics, page 1045-2.
Notes:
Now start to consider the second harmonic, to remove the lateral vibration during forward flight.
Spring steel swashring
8 input cylinders to ring, at 45º
IE Increase
θ slightly at 45ºψ, decrease at 90ºψ, increase at 135ºψ.
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Last Revised: June 8, 2002