Helicopters

Basic Theory
1.4 Stability and control
Miguel Silvestre
Aerospace Sciences Department
University of Beira Interior
April 2016

1.4 Stability and control

Introduction
The Stability and Control analisys in helicopter is in
general similar to fixed wing aircraft.

The following items are the diferences of the

helicopter relative to the fixed wing aircraft.

1.4 Stability and control

Main Rotor Moments About the CG
-

the No Feathering Plane (NFP) and the Rotor

Flapping Angle (RFA) define the rotor plane (TPP);

the thrust is perpendicular to the TPP;

any missalignement of the thrust direction to

the center of gravity creates moments

these can be in
pitch

or rol.
- This is the principle for the pilot to control the
aircraft:
- he changes the no feathering plane to tilt the
rotor and obtain a control moment

1.4 Stability and control - trim

Cruise Trim - CG position influence

After CG

note:the same RTF, TPP and NFP.

The difference is the fuselage attitude
Forward CG

1.4 Stability and control - trim

Cruise trim- Horizontal tail influence

After CG
LH

note:the same RTF, TPP and NFP.

Forward CG

Main rotor pitch moment must balance

horizontal tail moment depending on
the fuselagem attitude that depends on
the CG position

1.4 Stability and control - trim

Flapping hinge offset - direct head moment

Main rotor pitch moment,horizontal tail moment

depending on the fuselagem attitude and
flapping hinge offset moment must balance

1.4 Stability and control

Important notes about rotor flapping

RFA is proportional to speed and

is proportional to thrust at a given speed. So,

as thrust is proportional to the rotors angle of attack,

Any RFA disturbance may tilt the rotor further back,

increasing the rotors angle of attack. Furthermore, it
produces nose up pitching moment that increases thrust
and the airaft AoA even further.

1.4 Stability and control

Static stability
nose up divergence problem:
In case of an angle of attack increase disturbance,
thrust increases;
rotor tilt angle increases;
nose up moment is created;

angle of attack is increased even further!

The rotor alone, above the cg, is pitch unstable!

An Horizontal tail contributes with positive longitudinal static stability

1.4 Stability and control

Hovering
Hovering dynamic instability problem:
In case of an horizontal velocity disturbance,
flapping angle appears;
rotor and thrust are tilted;
horizontal acceleration is installed;
horizontal velocity builds up untill rotor flapps in the opposite direction;
the process is reapeated in the opposite direction with inceasing
amplitude!

The rotor alone, above the cg, is also dynamically unstable in hover !
For large helicopters, the hovering oscilation period is usually long enough for safe
reaction of the pilot. For small RC helicopters, a stabilization device is needed.

1.4 Stability and control

Hovering
One hovering dynamic stability solution concept: rotor below CG

Lackner HZ-1 Aerocycle

(from:http://en.wikipedia.org/wiki/De_Lackner_HZ-1_Aerocycle)

1.4 Stability and control

Hovering
other hovering dynamic instability solutions:
Bell control system
Hiller control system
Bell-Hiller mixing device

Bell control system

A flybar acts as a gyroscope maintaing its own plane of rotation. The

flybar acts as an auxiliary swashplane. The NFP is a mixture (or
average) of the swashplate and the flybar planes. As the rotor plane
goes away from the flybar plane, a cyclic pitch input is imposed that
tends to bring the rotor plane back to the flybar plane. The heavier the
flybar weights the more stable in hover the helicopter gets.

Bell control system

Bell UH-1(http://es.wikipedia.org/wiki/Bell_UH-1_Iroquois )

Bell control system

Bell UH-1(http://www.aircav.com/huey/stabiliz.html )

Bell control system

Bell UH-1(http://www.b-domke.de/AviationImages/Huey/Images/0419.jpg)

A flybar acts as a zero thrust auxiliary rotor, thus it has not flapping
with wind perturbations.

The flybar acts as the main rotor swashplane.

The control is in a secondary swashplate that only changes the flybar
cyclic pitch. The flybar plane then defines the NFP of the rotor.
As the rotor plane goes away from the flybar plane, a cyclic pitch input
is imposed that tends to bring the rotor plane back into the flybar
plane.
The weight of the flybar also adds to the stability.

http://pg-rc-fliers.blogspot.pt/2008/12/understand-flybar-mixing.html

Less control force required (as in the Hiller system)

More stable than a Bell system (as in the Hiller system)
Faster cyclic response than the Hiller system due to some direct swashplate input

Slightly slower cyclic response than a pure Bell system

More complexity than either a Bell or Hiller system
watch: https://www.youtube.com/watch?v=8HcWmhEkXpg
https://www.youtube.com/watch?v=N99wK1uACUM

 Bell-Hiller Control System

http://www.rchelicopterfun.com/images/HillerHead500pics.gif

Dynamic Stability - Pitch

Dynamic Stability - Latero Directional

1.4 Stability and control

Dynamic Stability

not an
antenna!

Bell 212