A dynamic simulation is created for a 2kg quadrotor helicopter, and several inflow models are used to analyze the behavior of the aircraft in trim in hover and forward flight. Intuitive control inputs are derived for a general quadrotor helicopter, and the effects of the inflow model on the required control inputs to achieve steady level flight are analyzed. The inflow models used include a uniform inflow model, Drees’ linear inflow model, and the Peters-He generalized dynamic wake model. The flight dynamic modes in hover are also characterized and the effects of the inflow model on their damping and natural frequency are explored.
Proceedings of the 72nd American Helicopter Society Annual Forum, West Palm Beach, Florida, May 17–19, 2016.