Simplified model building of mini unmanned helicopter in hover

The reduced model of mini unmanned helicopter in hover is proposed in this paper. A specific analysis for the dynamic characteristics of mini unmanned helicopter is given. Based on the analysed results, we carry on a very thorough trim computing process under the condition that the mini unmanned helicopter stays in hover. We can use the 6-DOF rigid body equations of motion to establish a full state nonlinear equation for mini unmanned helicopter. Further, by taking a small disturbance linearization method, we can deduce a small disturbance linear differential equation of motion for the mini unmanned helicopter of constant motion. We believe this model means a lot to autonomous hover control.