Abstract
In this chapter, we present a Lagrangian model of a VARIO scale model helicopter and a passivity-based control strategy. Our global interest is a general model (7-DOF) to be used on the autonomous forward flight of helicopters. We present the basic idea of the 7-DOF modelling. However, in this chapter, we focus on the particular case of a reduced order model (3-DOF) representing the scale model helicopter mounted on an experimental platform. We note that both cases represent underactuated systems (υ € ℝ4 for the 7-DOF model and υ € ℝ2 for the 3-DOF model studied in this chapter).
The authors of this chapter are Juan Carlos Avila Vilchis, Bernard Brogliato and Rogelio Lozano . Juan Carlos Avila-Vilchis and Bernard Brogliato ar e with the Laboratoire d’Automatique de Grenoble, France. UMR CNRS-INPG 5528. The first author is sponsored by the UAEM (Universidad Autönoma deI Estado de Mexico) . R. Lozano is with the Laboratory Heudiasyc, UTC UMR CNRS 6599, Centre de Recherche de Royallieu, BP 20529, 60205 Compiegne Cedex, France.
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Notes
The wake effect is a very important one that is considered in the majority of aerodynamic analysis where, for example, the pitching-up transient phenomenon produced by the induced velocity has been studied (see [114] for example).
All these quantities represent the magnitudes of the aerodynamic forces and torques.
Expressions to calculate the induced velocity in hover, in vertical and in forward flight can be found in [87]. In [7], one more general expression to calculate the induced velocity for a more general 3D flight mode is given.
Main rotor vertical Flapping is assumed to be made up of a coning angle and of a first harmonic motion. Tail rotor Flapping in neglected.
In general, the coning angle depends on γ [87].
SS(n) represents the n x n skew-symmetric matrices set. A matrix S is said to be skew-symmetric if and only if S + ST = 0.
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© 2002 Springer-Verlag London
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Fantoni, I., Lozano, R. (2002). Helicopter on a platform. In: Non-linear Control for Underactuated Mechanical Systems. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-0177-2_13
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DOI: https://doi.org/10.1007/978-1-4471-0177-2_13
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1086-6
Online ISBN: 978-1-4471-0177-2
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