A fast inverse kinematic solution for the nonlinear actuating mechanisms of a small-scale helicopter

作者：Khaligh Sepehr P^*; Fahimi Farbod; Koch Charles Robert

来源：Multibody System Dynamics, 2015, 35(3): 257-275.

DOI：10.1007/s11044-015-9452-0

• Actuating mechanisms
• Inverse kinematics
• Small-scale helicopters
• Swashplate mechanism
• Bell-Hiller mixer
• Tail rotor mechanism

An inverse kinematic solution for the main rotor actuating mechanism of a small-scale helicopter that includes a four-point swashplate system and a Bell-Hiller mixer and the tail rotor actuating mechanism are derived using an approach that is suitable for real-time control applications. A closed-form solution is obtained for the inverse kinematics of the swashplate mechanism and for the forward and inverse kinematics of the tail rotor. Then, a computationally efficient solution is obtained for the inverse kinematics of the Bell-Hiller mixer by converting the nonlinear kinematic equations into a generalized eigenvalue problem. The nonlinear kinematic model is compared to a linear approximation and is validated using experiments.

• 出版日期2015-11