Dynamics analysis and simulation for the invisible monowing rotorcraft

Invisible Monowing Rotorcraft (IMR) is an innovative unmanned aerial vehicle, on the base of Samara monocopter-a bionic aircraft inspired by maple seed. Due to the theory of visual persistence, IMR is highly deceptive to human observer in regular flight. Based on blade element and momentum combined theory, a discrete method to calculate the aerodynamics exerted on a rotating monowing is presented for simulation purposes, avoiding the singularity caused by linearization in conventional approaches. Rotational stabilities with and without aerodynamic moments are certified mathematically, proving that IMR is suitable for steady hovering. 6-DOF simulation is conducted on a pre-designed IMR and the helical turn trajectory characteristic emerges, which is illuminated by the principle of blade flapping in helicopter's dynamics. The validation of the proposed dynamic model is confirmed.