Helicopter Flight Dynamics

Chapter 1: Introduction

Instructor

Dr. Renliang Chen

A18-204
Phone: (025)84892141
E-mail: crlae@nuaa.edu.cn

Time and Place

Time: Tuesday 6:30-9:30 PM
Classroom: A18-112

Prerequisites

Theoretical Mechanics:
Helicopter Aerodynamics
Structure of Helicopter
Automatic Control Theory
Dynamics

Syllabus

Introduction
Helicopter Control
Rotor Blade flapping motion
Helicopter Trim in Level Flight
Helicopter Stability
Helicopter Response to Pilot Controls
Introduction to Flying Qualities

Requirements
Stressing on the physical meanings and basic concepts
Understanding and gripping the analysis methods
Being able to conduct the basic Calculation

Grade
50% Routine time
50% Final Exam

Textbook
Bramwell, Helicopter Dynamics, Arnold,
2000.

Useful References
Gao Zheng and Chen Renliang Helicopter Flight
Dynamics, Science Press, 2003.
Padfield, helicopter Flight Dynamics: The Theory and
Application of Flying Qualities and Simulation
Modeling, AIAA Education Series, 1995.
R. Prouty, Helicopter Performance, Stability and
control, PWS Publishers, 1986.
Johnson, Helicopter Theory, Princeton University Press,
1980.

Introduction

Definition of helicopter flight dynamics

Characteristics of helicopter flight
Scopes of helicopter flight dynamics
Methodologies
Objectives of helicopter flight dynamics

Definition of Helicopter Flight Dynamics

The subject of studying external forces applied
on helicopter as well as motions and controls
External Forces: Only those changing flight path such as
aerodynamic, inertial and gravity forces.
Motions: Accelerations(angular acceleration), velocities and
position
Controls: Pilot controls from cockpit, augment stability and
control
Flight qualities: Specification and flight quality assessment

Characteristics of Helicopter Flight

Example: from hover to forward flight
Push forward

Apply Long.
cyclic pitch

Rotor disc tilt forward

M z

Apply Collective
pitch control

Pilot

Adjustment

Paddle control

M k

Tail rotor

TT

Apply lateral
Cyclic control

Rotor disc tilt side

M x

Characteristics of Helicopter Flight

1.

There are 6 freedoms of motion in space, But there are only 4

controls. Therefore the control for each freedom of motion is not
independent.

2.

The response of helicopter to controls is coupled. The crosscoupling between axes is serious and needs to be removed by pilot
controls or SCAS.

3.

The controls for heaving, pitch and roll motions are implemented by
blade flapping motion. Thus the delay of helicopter response to pilot
controls is greater than that of fixed-wing aircraft.

4.

The flight qualities of helicopter is poorer than that of fixed-wing

aircraft

5.

The flight dynamics of helicopter is more complicated than fixedwing aircraft

Scope of Helicopter Flight Dynamics

Flight quality
specification
Flight quality
assessment
Gust
disturbance

Pilot

Cockpit
controls

External force
disturbance
Aerodynamic surfaces
(rotor, tail rotor)

Change aerodynamic
Forces and moments

SCAS

Helicopter
motions

Methodologies

Theoretical analysis
Computer simulation
Wind tunnel test with experimental model
Flight test

Objectives
Study and improve helicopter trim, stability and
control.
Guide helicopter design
Aerodynamic and inertial distributions
Primary design parameter determination (rotor, tail
rotor, controls and empennage)
Design of SACS and control laws

Rotor Hinge System

Introduction of hinges to rotor system
Flap hinge
Lag or drag hinge
feathering

Teetering or See-Saw Rotor

Underslung Teetering Rotor

Articulated Rotor

Hingeless Rotor

Coordinate System
YS
Y

YV
OS

1. Gravity axes
2. Body axes

YD

ZV

3. Wind axes

XS

ZS

4. Hub axes
OD
ZD

XD

XV

Gravity Axes
1.

YS

2.

YV

3.

OS

XS

ZS

YD

OD
ZD

4.

ZV

XD

XV

5.

The gravity axis system ODXDYDZD is

used to determine the flight path of
helicopter in space.
The origin of axes can be arbitrary point
in space.
The axis YD always points in the direction
of the vertical, regardless of the
orientation of the helicopter.
The orientation of XD and ZD axes is less
important, and to some extent arbitrary. A
typical choice for XD axis to point North,
and the ZD axis to point East.
The orientation of XD and ZD axes
becomes very important in the analysis of
flight test data, in piloted simulations and
navigation problems

Body Axes
1.
YS
Y

YV

2.

OS

XS

ZS

YD
ZV

OD
ZD

3.

XD

XV

4.

The body axis system OXYZ is used

to determine the attitude of helicopter
in space.
The origin of axes is at the center of
mass of helicopter.
The axis X points toward the nose of
helicopter, the Z axis points to the
right side (starboard), and the Y axis
points upward .
Body axes play an especially
important role in flight dynamics.

Wind Axes
1.

YS
Y

YV
OS

YD

ZV

OD
ZD

2.

XS

ZS

XD

XV

3.

The wind axis system OXVYVZV is

used to determine aerodynamic loads,
rotor wake and rotor flap due to
wind.
The origin of axes is at the center of
mass of helicopter.
The axis XV points toward the
velocity vector of helicopter, the YV
axis lies in the plane of symmetry of
the vehicle. The orientation ZV of
points toward right side.

Hub Axes
1.

YS
Y

YV
OS

XS

ZS

YD

ZV

OD
ZD

2.

XD

3.

XV

4.

The hub axis system OXSYSZS is used

to determine the rotor aerodynamic
loads and rotor flap due to controls
and body angular rates.
The origin of axes is at the center of
rotor hub.
The axis YS points upwards and
aligns with the rotor shaft.
The axis XS points toward the nose of
helicopter and perpendicular to axis
YS . the ZS axis points to the right
side..

Definition of Angles
The Euler angles:

Y2

The orientation of any axes relative to another

can be given by three angles, which are the
consecutive rotations about three axes in that
order to carry one frame along with the other.
This is a particular case of Euler angles. In
helicopter flight dynamics, only one sets is

X1

commonly used, that for the body axes.

1. A rotation about OYD, carrying the axes to
OX1YZ1, is the azimuth angle.
2. A rotation about OZ1, carrying the axes to
OXY2Z1, is the pitch angle.
3. A rotation about OX, carrying the axes to
OXYZ, is the bank angle.

Z1

Quatemions

Definition of Angles
The Aerodynamic angles:
The linear motion V of the vehicle relative to the
atmosphere can be given either by its three
orthogonal components (vx,vy,vz) in the body axes
system, or alternatively by the magnitude V and two
suitable angles. These angles, which are of
fundamental importance in determining the
aerodynamic forces that act on the vehicle, are
defined as:
Angle of attack:

v
tg 1 y
vx

Sideslip angle:

sin 1

vy

It will be observed that, in the sense of Euler angles,

the aerodynamic angles related the bode axes and
wind axes by the rotation sequence (,,0) which
carrying the former into the latter

X1

Transformation
from Gravity Axes to Body Axes
A rotation of :

cos
T1 0
sin

A rotation of :

cos
T2 sin

A rotation of :

0 sin
1
0
0 cos
sin

Y2

cos 0
0
1

0
1

T3 0
cos
0 sin

X1

0
sin

Z1

cos

The complete coordinate transformation from gravity axes to body axes is:
TDB T3 T2 T1

cos sin 0 cos

sin cos 0 0

cos 0
0
1 sin
cos cos
sin

0
1

0
cos
0 sin

0
sin

cos sin cos sin sin

sin sin cos cos sin

cos cos
sin cos

0 sin
1
0
0

cos
cos sin

cos sin sin sin cos

sin sin sin cos cos

Transformation
from Body Axes to Wind Axes
A rotation of :

cos
T1 0
sin

cos
A rotation of : T2 sin

0 sin
1
0
0

cos

sin
cos
0

0
0
1

X1

The complete coordinate transformation from body axes to wind axes is:

TBV

cos cos
T2 T1 sin cos

sin

sin

cos sin

cos
0

sin sin
cos

Transformation
from Body Axes to Hub Axes
Y

In order to improve the flight performance and

pilot Vision in cruse flight, the rotor shaft always
tilts Forward as an angle .
Thus:
In the sense of Euler angles, the rotor shaft tilt
angle related the bode axes and hub axes by the
rotation sequence (0,,0) which carrying the
former into the latter

TBS

cos
sin
0

sin
cos
0

0
0

YS

X
XS

Z, ZS

Comparison of Coordinate
System in Different Country
Y

O
O

China and Russia

West Country

Comparison of Definition of
Parameters in Different Country
Y Z
V y w
M y N

y r

x p

M z M
Vz v

Z Y

z q
B

M x L

Vx u

XX

Comparison of Definition of
Parameters in Different Country
Meanings
Thrust coeff.
Hide force coeff.

Side force coeff.

Anti torque coeff.

Lock Number

China and Russia

West country