3. Helicopter Motion Equations Longitudinal Motion is the summation of aerodynamic forces along the x axis. The three items in the right side are equivalent to ma . The first item comes from the acceleration, while the last two items are the inertial accelerations produced by the helicopter curve motions.
4. Helicopter Motion Equations For the pitching motion, we have: The lift side is the summation of aerodynamic moments . In the right side , the first item is the inertial moment caused by angular acceleration, the second item is the gyro moment, and the third item is effect of centripetal force. Lateral/yaw Motion
5. Helicopter Motion Equations The Relationship Between Angular Motions The attitude angles are respect to gravity axes. While the angular velocities are measured in body axes. The 6 equations of helicopter body and 3 angular motion equations consists of the governing equations of helicopter flight dynamics. The relationship between angular velocities and helicopter attitudes rates can be written as: Z D Z 1 Y 1 X 1
![Helicopter Motion Equations Origin For rigid body motion : velocity of mass center : angular velocity of rigid body : angular momentum ,[object Object],[object Object],[object Object]](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)