Development of a Real-time Flight Simulator for an Experimental Model Helicopter

SUMMARY This work first describes the development of a real-time flight simulator for an R-50 experimental model helicopter. A mathematical model of the helicopter is developed to represent the dynamics of the real system. This simulation model is used to investigate and analyze the helicopter dynamics in a hovering flight condition. The importance of a control rotor used for stability augmentation of the helicopter is emphasized and investigated in more detail. Combining t he model with further flight software and hardware, a flight simulator is obtained that is capable of real-time flight simulation. This simulator will be used in the future for detailed studies on new modern control algorithms used for helicopter flight control. Experimental flight tests with the real helicopter are performed and analyzed and allow the identification of a simplified linear model valid close to the hover flight condition. Results are shown and compared to the linearized model obtained from the simulation. The system identification employs a frequency response and a step response method that result in an approximate model for the helicopter dynamics. Linear models from simulation and flight tests are then used in a recently developed Neural Network Adaptive Nonlinear Flight Control System and applied to the real-time simulator and the real helicopter. The results of both applications are then briefly presented. iii ACKNOWLEDGEMENTS