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According to numerous capabilities and increasingly military and commercial applications of radio controlled helicopters, many investigations are being performed on these unmanned aircraft vehicles. Due to nonlinear, complex, unstable and coupled dynamic system and also existing limitations on manual control, the ability of automatic control of these vehicles has gained great importance. In this paper, in addition to investigating different methods of unmanned helicopters dynamic modeling, a multi-level simulator environment has been designed and implemented for flight performance analysis and effects of different parameters have been investigated. The main importance and innovation of present simulator is in possibility of dynamic flight simulation of helicopter using different theories for applications like control system design, performance analysis and real flight simulation. The main difference of the utilized methods is in theories and assumptions applied in main rotor and its flapping dynamics modeling. For each level, Kalman filter and control system design have been performed and preliminary results show the acceptable performance of estimator and controller systems. Considering the complexity of real unmanned helicopter behavior compared to previously performed models, the proposed multi-level simulator can be used as an appropriate tool for the first step before real flight tests.

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The helicopter rotor blade flapping results in a helicopter rotor symmetry lift and has a significant impact on stability and control. In this paper, the modeling of helicopter flapping in the presence of aerodynamic forces and moments and the effect of offset, blade torque, hinge resistant spring, blade geometry, natural frequency effect, and forward ratio to achieve reliable relief from flapping was investigated. In the simulation, the effects of small and large flapping angles and the role of offset on the momentum entered on the blade, as well as the role of the forward ratio in moments were investigated. Different models of flapping dynamics and equations for the flight of a hover and are fully presented and all of the important issues are examined for a numerical example. Also, the effect of non-uniform flow in the flapping equations of the blade is the effect of the natural frequency of the flapping motion with the blade offset. This leads to increasing the accuracy in modeling the phenomenon of on a helicopter. Simulation results show the importance and impact of offsets, moments and forces imposed on the blade in the motion of the flapping, which leads to an increase of accuracy in modeling.