Introduction to RC Helicopter

Gaurav Agarwaal , Aman Gupta , Divesh Soni

Lakshmisai Charla Anshul Lakhani Anupam Tripathi k
Indian Institute Of Space Science and Technology
A helicopter is a type of aircraft which derives both lift and propulsion for one or more sets of horizontally revolving overhead rotors. This report deals with the study of basic parts of helicopter, its
control and manoeuvrability. The swash plate mechanism was explored along with bell hiller mechanism. The difference between cyclic and collective control was observed.

I.

Introduction

A helicopter is an aircraft that is lifted vertically and is propelled in different directions by tilting the thrust vector of
the main rotor rotating in a plane perpendicular to the vertical axis of the helicopter. The rotor has two or more propeller
blades, which have an airfoil cross section along its length. Apart from the main rotor, most of the conventional rotors
have a tail rotor to counteract the reaction torque of the main rotor on the helicopter body by imparting an opposite
yawing moment to the helicopter. Helicopters are also known as rotary wing aircraft because unlike fixed wing
aircrafts, the wings are in the form of blades in a helicopter which keeps on rotating so as to maintain a flow of fluid
through them which generates lift as in the case of fixed wing aircraft where the engines or propellers are used to
maintain a relative velocity between the wing and the air. [1]

II.

Parts of the Helicopter

1. Main rotor: this is the main source of thrust in a helicopter producing enough thrust to balance the helicopter
weight and forces required in different directions for maneuvering purpose. It comprises of two or move rotor
blades which upon rotation creates a relative motion in the surrounding air and the cross section of blades which
are basically airfoils and thus lift is generated which is varied by varying the angle of attack of the blades.
2. Tail rotor: Usually tail rotors are found in conventional helicopters attached to the tail with its axis along the
pitch axis. It is attached to tail with its axis along the pitch axis. It is attached to the tail with a long tail boom
and its sales purpose is to provide counter yaw moment to the reaction of the main rotor torque on the helicopter.
Its pitch is also adjustable and it is attached with the help of gears with proper gear ratios to exact balance the
reaction torque of main rotor. Tail rotor can be independently controlled by pilot for yaw maneuvers.
3. Cockpit:This part of helicopter accommodates the passenger, payload and pilot and all the control systems and
levers and navigation instruments as well.
4. Landing skid: It is used to support the helicopter during landing and when it is stationed on the ground.
5. Tail skid: To protect the tail rotor from getting hit during landing accidentally, tail skid is provided.
6. Tail boom: It provides a large moment arm for a small force produced by tail rotor so as to balance the reaction
torque of main rotor.
7. Swash plate: This is a mechanism to transfer the pilot inputs for changing the blade pitch and hence the angle
of attack to the rotating blades. It controls every motion of the helicopter other than its rotation. It comprises of
two discs one of which is attached to the rotor shafts and rotates with it while the other one is joined to the first
one via bearings and does not rotate. It is able to tilt in all directions and move vertically.
B.Tech.
B.Tech.
B.Tech.
B.Tech.
B.Tech.
k B.Tech.

Student, Department of Aerospace Engineering, IIST

Student, Department of Aerospace Engineering, IIST
Student, Department of Aerospace Engineering, IIST
Student, Department of Aerospace Engineering, IIST
Student, Department of Aerospace Engineering, IIST
Student, Department of Aerospace Engineering, IIST

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III.

Controls and Manoeuvrability

1. Collective Control : It is used for VTOL . The collective pitch control, located on the left side of he pilots
seat, changes the pitch angle of all main rotor blades simultaneously, or collectively, as the name implies. As
the collective pitch control is raised, there is a simultaneous and equal increase in pitch angle of all main rotor
blades; as it is lowered, there is a simultaneous and equal decrease in pitch angle. This is done through a series
of mechanical linkages and the amount of movement in the collective lever determines the amount of blade pitch
change.[2]
2. Cyclic Control : It is used for cruise. The cyclic pitch control tilts the main rotor disc by changing the pitch
angle of the rotor blades in their cycle of rotation. When the main rotor disc is tilted, the horizontal component
of lift moves the helicopter in the direction of tilt. The rotor disc tilts in the direction that pressure is applied to
the cyclic pitch control. If the cyclic is moved forward, the rotor disc tilts forward; if the cyclic is moved aft, the
disc tilts aft, and so on. Because the rotor disc acts like a gyro, the mechanical linkages for the cyclic control
rods are rigged in such a way that they decrease the pitch angle of the rotor blade approximately 90 before it
reaches the direction of cyclic displacement, and increase the pitch angle of the rotor blade approximately 90
after it passes the direction of displacement. An increase in pitch angle increases angle of attack; a decrease in
pitch angle decreases angle of attack. For example, if the cyclic is moved forward, the angle of attack decreases
as the rotor blade passes the right side of the helicopter and increases on the left side. This results in maximum
downward deflection of the rotor blade in front of the helicopter and maximum upward deflection behind it,
causing the rotor disc to tilt forward. [2]

Figure 1. Swash Plate connected by ball bearing.

[3]

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Figure 2. Linkage Diagram for cyclic and collective pitch.

IV.

[3]

Control Mechanisms

The control mechanisms describe the transfer of pilot input to the final alteration of rotor blades necessary for
directional control of the helicopter. This section describes the different kinds of mechanisms that produce the required
swash plate configuration, orientation and motion which in turn controls the rotor blades. It uses the coupling of the
swash plate motion with yet another mechanism that makes use of aerodynamic and gyroscopic concepts. So with the
help of such mechanism pilot never controls the swash plates directly but only controls this coupling mechanism to
direct his helicopter.[3]
1. Bell Section : The upper swash plate is directly connected to the main blade grips. It eliminates the stabilization
issues of the helicopter by imparting sort of gyroscopic stability by adding dead weights to a stabilizer bar
perpendicular to the main rotor blade. These weights keep on spinning with the rotor and any perturbations
in the motion of helicopter which may destabilize the helicopter in roll or yaw direction is counteracted by its
angular momentum change resistance providing gyroscopic stability.
2. Hiller System : As a modification to Bells system, Hiller proposed to put to aerodynamic symmetric airfoil
shaped paddles instead of dead weights with the paddles being attached to the stabilizer bar at the quarter chord
point for the paddle airfoil. Being symmetric , the aerodynamic center of the paddle lies at quarter chord point,
thus moment required to rotate this paddle remains invariant of its angle of attack i.e. a small power is required
to rotate these paddles which is coupled to the main blades and thus their tilting causes the swash plates to
change its orientation which then reorients the main blades in a desired manner as per the command given to
the paddles by the pilot. In this manner it in addition to providing stability to helicopter reduces the pilot power
input and to turn the blade angles.
3. Bell Hiller Control System It is considered as the hybrid of both Bell and Hiller system. The key component
is Bell-Hiller mix up which mixes the fly bar tilt and the swash plate tilt mechanically. It uses the Hiller paddles
attached to the fly bar. The pitch of the paddles is controlled by a linkage from swash plate like Hiller system. It
has a number of advantages which include less control, force/moment is required, more stable than Bell system
and faster cyclic control than Hiller system due to some direct swash plate input. But it has a major disadvantage
of more complexity of the mechanisms involved in the control.

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Figure 3. Hiller Control System.

[3]

Figure 4. Bell Hiller Control System [4]

Acknowledgements
We thank Dr. Satheesh K. for his guidance and supervision as well as for providing necessary information regarding the experiment.

Refrences
1. Wikipedia/Helicopters
2. Rotograph Flying Handbook , US Department Of Transportation Federal Aviation Administration.
3. Art Of the Helicopter , John Watkinson
4. www.rcgroups.com

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