A mathematical model of a single main rotor helicopter for piloted simulation

A mathematical model, suitable for piloted simulation of the flying qualities of helicopters, is a nonlinear, total force and moment model of a single main rotor helicopter. The model has ten degrees of freedom: six rigid body, three rotor flapping, and the rotor rotational degrees of freedom. The rotor model assumes rigid blades with rotor forces and moments radially integrated and summed about the azimuth. The fuselage aerodynamic model uses a detailed representation over a nominal angle of attack and sideslip range of + or - 15 deg., as well as a simplified curve fit at large angles of attack or sideslip. Stabilizing surface aerodynamics are modeled with a lift curve slope between stall limits and a general curve fit for large angles of attack. A generalized stability and control augmentation system is described. Additional computer subroutines provide options for a simplified engine/governor model, atmospheric turbulence, and a linearized six degree of freedom dynamic model for stability and control analysis