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The purpose of this thesis is to establish a set of numerical methods to determine, according to the configuration parameters of the helicopter, the nonlinear and linear mathematical models of helicopter, which are the fundamental of the simulations for helicopter motion.First, by using the theories of dynamics and aerodynamics, the nonlinear mathematical model of helicopter is established. Then, by using the equilibrium of force and moment, the trim points of different flight conditions of the helicopter are determined.At each trim point, the linearized model can be derived by using the Taylor''s series expansion. By using the linear model, stability analysis can be conducted and control law can be designed.At last, the control law is added to the mathematical model and the nonlinear model is used for the simulations of helicopter motions.
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