Control of a hybrid helicopter with wings

This work investigates the design parameters and their consequences in the control of a helicopter rotor combined with a pair of fixed wings. This hybrid vehicle has a light and aerodynamically efficient rotor with a large range of pitch angles to enable both hover and forward flight. Because of the light stiff rotor and heavy wings, the hybrid vehicle exhibits couplings between the roll and pitch axes during hover flight. The rotor-wing interaction depends on a lot of parameters. In this article, we utilize a simplified theoretic model and simulations in order to gain insight in the effect of these parameters on the vehicle dynamics. Finally, a controller is designed that compensates undesired coupling between pitch and roll.