Helicopter rotation inverse dynamics modeling and attitude control

A novel modeling method of helicopter rotation inverse dynamics was proposed for overcoming deficiency in the tradition single point inversion model,and the attitude control throughout full flight envelope was implemented.In the method,the attitude velocity command was transformed into three expected key states(viz longitudinal/lateral flapping angle and tail rotor yaw moment)by means of rotational equation inverse calculation,and from the key states,the expected longitudinal/lateral cyclic pitch angle and tail rotor collective pitch angle were obtained by using main rotor flapping dynamic inverse calculation and tail rotor collective pitch angle inverse calculation.Furthermore,the helicopter attitude control system was developed based on the model.Simulation results show the proposed modelling method can reflect the helicopter inverse dynamics correctly throughout full flight envelope;the system can achieve attitude control well without compensation element and has strong robustness performance when existing kinds of disturbances.