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In this paper, we derive a linear and a nonlinear model of helicopter autorotation maneuver focusing on main rotor revolution and decent rate dynamics. The nonlinear model for above dynamics is derived from Blade Element Theory combined with the induced velocity linear approximation proposed in this paper. The linear model is derived by implementing a neural network optimization method based on experimental data. The derived nonlinear and linear models are verified by comparing simulated data of the model with experimental one. Finally we carry out preliminary experiment of autorotation landing with a simple PI controller. Rotor revolution and decent rate are found to be well controlled by the designed controller.

Autonomous Autorotation Landing of Small Unmanned Helicopter