Modeling of a class of UAV helicopters using component buildup method

In the paper, a nonlinear modeling approach for a class of unmanned-aerial-vehicle (UAV) helicopters is presented. The applied approach adopts a component buildup method to calculate the component forces and moments. In order to improve the modeling accuracy and applicability, the rotor dynamics are detailedly analyzed by taking into account the influences of airspeed in hub center and the coupling between the lateral and longitudinal directions. The simulation results show the rationality of the proposed modeling method. The established model is of low complexity and can be conveniently applied in flight control in a variety of flight modes, such as the traditional flight modes and the aerobatic performance modes.