12-DoF Dynamics Model of a UAV Helicopter using Analytical and Parameter Identification Techniques

This paper presents the development of a 12-DoF flight dynamics model of a UAV helicopter for hover and forward flight conditions. The model includes the coupled rotor-body-stabilizer bar dynamics and the heave-inflow-coning dynamics. The rotor regressive flapping dynamics and the stabilizer bar dynamics are included in the model using a first-order approximation of the second-order flapping dynamics. The effect of the second order coning dynamics and inflow dynamics on the heave motion is discussed. The resulting model will be used for the design of a high- bandwidth control system for the Raptor.