Dynamic modeling and feedback control of a side-by-side tandem helicopter

The development of a dynamic model and the design of a feedback controller for reducing torque oscillations of a side-by-side rotor tandem helicopter are described. The tandem helicopter is a multi-input, multi-output system and, for control purposes, can be represented by a linear-time-invariant model. Hamilton´s principle is used to develop the dynamic model of the side-by-side rotor tandem helicopter. This method is an excellent tool for analyzing dynamic interaction between various members of an articulated structure. The complete model is given by a set of nonlinear differential equations and can be linearized if necessary. The eigenstructure assignment technique is used for the design of the controller since it allows the designer to place eigenvalues for stability enhancement and desired transient characteristics, and to select eigenvectors for state-variable decoupling. Simulation results show excellent closed-loop performance of the helicopter