The research of two-degree freedom small scale helicopters based on kinetic modeling and control analysis

Two degree of freedom flight test platform was devised to simulate the helicopter by using of the similarity theory. Taking the platform as the researching object and combing the Lagrange-Euler equation with the equivalent moment method, the system dynamic model is derived and the physical parameter is pre-estimated. The relation between the lift force and the change of the rotation speed is acquired by the experiment with the fixed collective angle. According to the kinetic equation, a PID revised feed-forward controlling algorithm with robust characteristic was devised and the MATLAB simulation is applied to verify fast astringency and validity of the controller.