Lagrange-d'Alembert Formulation of the Equations of Motion of a Helicopter Carrying an Externally Suspended Load

摘要

The exact nonlinear equations of motion are derived for a helicopter with an external load suspended by fore and aft, rigid-link cables. Lagrange's form of D'Alembert's principle is used. Ten degrees of freedom are necessary to represent the motion of this system in an inertial reference frame: six for the helicopter relative to inertial space and four for the load relative to the helicopter.