Modelowanie matematyczne automatycznie sterowanego śmigłowca w ruchu przestrzennym

The purpose of the work is to develop a unified mathematical model of a helicopter. All main degrees of freedom of a helicopter as a mechanical system are actually taken into account. The motion of fuselage in space and the motion of main rotor, tail rotor, tail plane, turbines is considered. An integral part of the mathematical model of a helicopter is the flight control system which imposes the constraints, specified by nonintegrable expressions involving the velocities (non-holonomic system), on considered mechanical system.