Mathematical model and simulation for a helicopter with tail rotor

The helicopters have different aerodynamic characteristics according to their type; therefore different mathematical models can be developed to represent their flying dynamics, which is very complex. In this paper we develop a mathematical model for a helicopter with a principal rotor hub and a tail rotor configuration, which is used to simulate the flying behavior of the helicopter and can be used to design a flight control system. The mathematical model is a nonlinear six-equation system, in which for principal rotor motion and tail rotor motion a decoupled system is established in order to obtain a complete helicopter-flying attitude. Some simulations are made using the mathematical model under a specific flying condition.