Modelling of Helicopter Underslung Dynamics using Kane’s method
Rajib Shekhar Pal
Abstract
The mathematical modelling of the dynamics of a helicopter underslung system consisting of multiple rigid bodies interconnected by cables is described in this paper. The differential equations of motion are derived using the matrix form of Kane’s method. This avoids the enormous complexity involved in symbolic derivations, which are usually available in the published literature. The generalized coordinates and generalized speeds are selected suitably to derive the kinematical relationships describing the motion of the joints and centres of gravity of the different bodies present in the underslung system. The formulated model is validated using the principle of conservation of mechanical energy neglecting the dissipative forces. Simulation results demonstrating the characteristic motion of the system are presented.