Journal of Shanghai Jiao Tong University ›› 2022, Vol. 56 ›› Issue (3): 395-402.doi: 10.16183/j.cnki.jsjtu.2021.044

• Aeronautics and Astronautics • Previous Articles    

Dynamics Modeling and Validation of Coaxial Lifting Rotors

HU Jinshuo1, HUANG Jianzhe2()   

  1. 1. UAS Airworthiness Certification Center, China Academy of Civil Aviation Science and Technology, Beijing 100020, China
    2. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2021-02-05 Online:2022-03-28 Published:2022-04-01
  • Contact: HUANG Jianzhe


The dynamics model for coaxial lifting rotors can be used to study the controller design and flight simulation for coaxial-rotor aerial vehicles. However, both the computational efficiency and the accuracy should be considered. First, the computational model of the induced velocity of lifting rotor everywhere including the wake region is derived based on adjoint theorem. Then, the finite state dynamics model for coaxial lifting rotors with wake skew considered is developed by extending the finite state inflow model for single rotor. Finally, the equations for calculating the thrust of coaxial lifting rotors in the hover condition are given, and the test is conducted. The results show that the computational complexity of the proposed dynamics model for coaxial lifting rotors is acceptable, and the computational thrusts are almost close to the test results when the rotational speed is within a certain range, which can also reflect the trend of the thrust lost for coaxial lifting rotors.

Key words: coaxial lifting rotors, dynamics modeling, finite-state inflow, flow field interaction

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