Design and dynamic modelling of a coaxial-rotor system

Coaxial-rotor configuration with the compact structure and vertical take-off ability make itself a good configuration to execute highly difficult task. In this paper, the structural design of coaxial-rotor system is introduced, and we discuss the control principle behind coaxial configuration. Then, the dynamic modeling is presented based on the combination of considering two rotors as dynamics model and the fuselage as the rigid body. Finally, the simulation is conducted to demonstrate the effectiveness of the modeling.