Design of an active helicopter control experiment at the Princeton Rotorcraft Dynamics Laboratory

In an effort to develop an active control technique for reducing helicopter vibrations stemming from the main rotor system, a helicopter model was designed and tested at the Princeton Rotorcraft Dynamics Laboratory (PRDL). A description of this facility, including its latest data acquisition upgrade, are given. The design procedures for the test model and its Froude scaled rotor system are also discussed. The approach for performing active control is based on the idea that rotor states can be identified by instrumenting the rotor blades. Using this knowledge, Individual Blade Control (IBC) or Higher Harmonic Control (HHC) pitch input commands may be used to impact on rotor dynamics in such a way as to reduce rotor vibrations. Discussed here is an instrumentation configuration utilizing miniature accelerometers to measure and estimate first and second out-of-plane bending mode positions and velocities. To verify this technique, the model was tested, and resulting data were used to estimate rotor states as well as flap and bending coefficients, procedures for which are discussed. Overall results show that a cost- and time-effective method for building a useful test model for future active control experiments was developed. With some fine-tuning or slight adjustments in sensor configuration, prospects for obtaining good state estimates look promising