A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that con...

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Bibliographic Details
Published inSymmetry (Basel) Vol. 12; no. 11; p. 1849
Main Authors Liu, Jianbo, Guan, Rongqiang, Yao, Yongming, Wang, Hui, Hu, Linqiang
Format Journal Article
LanguageEnglish
Published MDPI AG 01.11.2020
Subjects
helicopter
inverse dynamics
kinematics
load analysis
swashplate mechanism
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Summary:In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.
ISSN:2073-8994
2073-8994
DOI:10.3390/sym12111849