Helicopter Flight Dynamics

Chapter 2: Helicopter Flight Controllers

Topics
1. External forces acting on helicopter
2. Control manners of helicopter
3. Control systems and their mechanical
characteristic
4. The Development of helicopter controllers

External Forces Acting on Helicopter

V

Aerodynamic Forces of Main Rotor

MGz

Thrust: T
Hind force: H
Side force: S
Anti-torque: Mk
Hub moments: MGx, MGz

MGx

Aerodynamic Forces of Tail Rotor

V

Thrust: TT
Anti-torque: MkT

Aerodynamic Forces of Fuselage

Drag: Qf
Lift: Yf

Side Force: Sf
Roll Moment: Mxf
Yaw Moment: Myf
Pitch Moment: Mzf

Aerodynamic Forces of Horizontal Tail

V

Drag: Dh
Lift: Yh

Aerodynamic Forces of Vertical Tail

V

Drag: Dv
Lift: Yv

Helicopter Control Manners

Control manners of helicopter with main rotor
and tail rotor
Control manners of twin rotors helicopter
Control manners of tilt-rotor aircraft
Other control manners

Helicopter Types

Control of Fixed-wing Aircraft

rudder
elevator
aileron

aileron

Control of Fixed-wing Aircraft

Degree of
Freedoms

Direct
Control

Indirect
Control

Cockpit Control
Unit

Aerodynamic
Surfaces

Control
Forces

Forward

Throttle

Thrust

Pitch

Stick

Elevator

MZ

Roll

Stick

Aileron

MX

Yaw

Paddle

Rudder

MY

Altitude

Stick + Throttle

Sideward

Stick + Paddle

Control of Helicopter
Main Rotor Control System Engines

Tail Rotor

Control of Helicopter
with Main & Tail Rotors
Degree of
Freedoms

Motions

Cockpit
Control Unit

Aerodynamic
Surfaces

Control
Forces

Vertical

Altitude

Collective stick Rotor

Longitudinal

Pitching,
Forward &
backward

Stick

Rotor

H, MGz

Lateral

Rolling,
sidestep

Stick

Rotor

S, MGx

Yaw

Heading

Rudder

Tail rotor

TT

Main rotor is the lift surface to produce the lift of helicopter. On the
other hand, it is the control surface to produce the forces or moments of
heaving, pitching and rolling. Furthermore, it is the propeller to make
helicopter to fly in any directions.

Comparison of Control Between

helicopter and Fixed-wing Aircraft
Degree of
Freedoms

Direct
Control
Helicopter
Indirect
Control

Fixed_wing
Aircraft

Direct
Control

Indirect
Control

Cockpit Control
Unit

Aerodynamic
Surfaces

Control
Forces

Altitude

Collective

Rotor

Pitch

Stick

Rotor

H, MGz

Roll

Stick

Rotor

S, MGx

Yaw

Rudder

Tail rotor

TT

Forward

Collective + stick

Sideward

Collective + stick +
Rudder

Forward

Throttle

Thrust

Pitch

Stick

Elevator

MZ

Roll

Stick

Aileron

MX

Yaw

Paddle

Rudder

MY

Altitude

Stick + Throttle

Sideward

Stick + Paddle

Control Manners of
Twin Rotors Helicopter
Configuration
Control

Vert.

Lon.

Lat.

Yaw

AntiTorque
Balance

Single rotor

Tandem rotors

Co-axis rotors

Side by side rotors

Control Tandem Helicopter

Control of Tilt-rotor Aircraft

Helicopter Mode
Pitch

Thrust

Roll

Side Force

Yaw

Fixed-wing Mode

Control of Tilt-rotor Aircraft

Airplane

Helicopter

Thrust /power level controls

Collective pitch and throttles
Acts as altitude control

Thrust /power level controls blade

pitch and engine throttles
Acts as altitude control

Thrust/power Control

Control of Tilt-rotor Aircraft

Helicopter

Airplane

Forward longitudinal
cyclic pitch

Proprotor discs tilt forward

Aircraft assumes nose-down altitude
Airspeed increases

elevator

Elevator deflects downward

Aircraft assumes nose-down altitude
Altitude decreases
Airspeed increases

Forward Stick Control

Control of Tilt-rotor Aircraft

Helicopter

Airplane

Backward longitudinal
cyclic pitch

elevator

Proprotor discs tilt backward

Aircraft assumes nose-up altitude
Airspeed decreases

Elevator deflects upward

Aircraft assumes nose-up altitude
Altitude increases
Airspeed decreases

Backward Stick Control

Control of Tilt-rotor Aircraft

Airplane

Helicopter

flaperon

differential collective pitch

and lateral cyclic pitch

Right proprotor increase collective pitch

Left proprotor decrease collective pitch
Proprotor discs tilt to left
Aircraft rolls to left

Right flaperon deflects downward

Left flaperon deflects downward
Aircraft rolls to left

Left Stick Control

Control of Tilt-rotor Aircraft

Helicopter

Airplane

differential collective pitch

and lateral cyclic pitch

flaperon

Left proprotor increase collective pitch

Right proprotor decrease collective pitch
Proprotor discs tilt to right
Aircraft rolls to right

Left flaperon deflects downward

Right flaperon deflects downward
Aircraft rolls to right

Right Stick Control

Control of Tilt-rotor Aircraft

Rudder

Differential longitudinal cyclic

Airplane

Helicopter

Left proprotor disk tilts forward

Right proprotor disk tilts backward
Aircraft yaws to left

Rudder deflect to left

Aircraft yaws to left

Left Pedal Control

Control of Tilt-rotor Aircraft

Rudder

Differential longitudinal cyclic

Airplane

Helicopter

Left proprotor disk tilts backward

Right proprotor disk tilts forward
Aircraft yaws to right

Rudder deflect to right

Aircraft yaws to right

Right Pedal Control

Direct Control Manner

In the early time, The small helicopter was controlled by directly rotating the
rotor shaft.
Advantages: structure simple
Disadvantages: too large control forces and difficult to control precisely
Status: Still be used now by Gyroplane

Control by Hiller Bar

1.

Two Heller bars forms the control rotor

(teetering rotor)

2.

The control rotor is connected directly to

swashplate.

3.

The flap motion of bar adjust the blade

cyclic pitching angles of main rotor.

4.

Advantages:
1)

Small control forces and air loads.

2)

Large aerodynamic damping, good

stability (stable hover)

5.

Disadvantage: delay of response

6.

Status: Used by most of model helicopter

Hiller Bar

Control by Servoflap

1.

There is a flap at the blade trail edge.

2.

Pilot controls the deflection angle of servoflap.

3.

The blade pitching angle is achieved with the blade torsional deflection

4.

Servofalp has been successfully used on the Kaman helicopter

Controller
and Mechanical Features

Swashplate
Typical Controller of Helicopter
Mechanical Feature of Controller
Other Controller

Swashplate
Blade
Pitch Link
Rotating Swashplate
Non-rotating Swashplate

Shaft

Helicopter Typical Controller

Mechanical Feature
of Controller
The movement and load ranges of cockpit controllers shall be
suitable to the pilot physiological characteristics. The
mechanical features directly affect the control precision and
pilot workloads.

Gradient of Stick Force

Breakout Forces
Limited Control Forces
Cockpit Control Free Play

Gradient of Stick Force

1.

The relationship between stick force and displacement should be

monotonous, continuous, primarily linear and symmetry to center point.

2.

The magnitude of stick forces gradient shall be suitable to control the

helicopter precisely. The adjust system for trimming stick force is needed.
Forward
Force

Forward
Force

Breakout Force

Backward
Position

Forward
Position

Backward
Position

Trim

Friction
band
Forward
Position

Free Play
Backward
Force

Ideal Stick force vs. displacement

Backward
Force

real Stick force vs. displacement

Breakout Forces
Forward
Force
Breakout Force
Backward
Position

Trim

Friction
band
Forward
Position

Free Play
Backward
Force

1.

Breakout forces, including friction, preload, etc., refer to the cockpit

control force required to start movement of the control surface in flight.

2.

In some cases, the engineers intently increase the friction to prevent

from the slippage of stick position so that the pilot can remove his
hands from the stick for a short time to do something.

Cockpit Control Free Play

Forward
Force
Breakout Force
Backward
Position

Trim

Friction
band
Forward
Position

Free Play
Backward
Force

1.
2.
3.

The free play is that any motion of the cockpit control does not
move the appropriate moment - or force - producing device in
flight.
The free play is caused by clearance.
In design, the engineers will do their best to keep the free play as
small as possible.

Limited Control Forces

1.

Too large limited control forces will make the pilot

tired and difficult to control the helicopter precisely.

2.

Unless otherwise specified in particular requirements,

the maximum control forces required shall not exceed
the given value.

3.

The value of limited control forces is given by the

specification of flight qualities.

The Development of Controller

Fly-by-Iron
This controller was very common in the early time. It is
still used in the small helicopters.
Advantages: simple, direct and reliable
Disadvantages: large stick force, dithering of stick, free
play and friction hurting the flight qualities
Fly-by-Oil
Combination of fly-by-iron and hydraulic system, stick
control the hydraulic actuator which move the swashplate.
Advantages: large control power, no stick dithering, easy
working with SCAS
Disadvantages: complicated structure, heavy, need of
backup for safety

The Development of Controller

Fly-by-Wire

Stick inputs commands into computer with redundant technology. The computer
controls the actuators (electric or hydraulic)
Advantages: small, light, good flight qualities (insured by computer software),
high reliability (redundant, self check)
Disadvantages: electromagnetic effects (such as thunder)

The Development of Controller

Fly-by-Light
Signals is carried by optical fiber, the others is the same as fly-by-wire.
There is no electromagnetic effects. It is still under the development.

Sidestick Controller

Developed for fly-by-wire or fly-by-light. It located on the right side of pilot.

The command signals are forces.
Advantages: small size, big cockpit room. One hand and foot of pilot are free.
Status: Installed on RAH-66 helicopter

The Development of Controller

Smart Control System
Helicopter flight
dynamic model
Commands
from pilot
Actuators
Ambient
disturbance
Information from
navigation sys.

Airborne
Computer

Helicopter
Sensors