Dynamics of RC helicopter and control

It is hard to fly an RC helicopter desirably because of its dynamical instability and the fast responce of motion, so that some stabilizing control system has to be developed. The first step of design is the derivation of the mathematical model. Dynamics of a helicopter is much complicated due to the rotating blades and its validity is difficult to be evaluated. In this paper, the mathematical model of a hovering RC helicopter is derived and its validity is confirmed experimentally by designing the stabilizing control system of the gimbal equipment which has three degrees of freedom, rolling, pitching and yawing. At the same time, two kinds of small sensors are investigated and used to control the above equipment.