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In other cases, it can only remain in hovering conditions or being moved by high altitude winds passively.
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This paper presents a unified framework for addressing the stability analysis of the hovering condition for a multirotor vehicle.
The convergence of the two observers is theoretically and experimentally proven; simulations and experiments are conducted on a real platform in hovering flight conditions.
A dynamic model is derived for hovering flight conditions from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP).
Initially the problem is transformed into a second order system with an uncertain non symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions.
This model disregards the aerodynamic forces, negligible near hover conditions.
The synthesis is performed on a family of linear models obtained by linearising the tandem helicopter dynamics in hover conditions for different mass and payload configurations.
The fully coupled adjoint formulation is then used to perform rotor blade design optimization for a four bladed HART2 rotor in hover conditions started impulsively from rest.
The aeroelastic analysis of the designed AATR blade for the hover condition is conducted.
Although the temperature distributions and infrared characteristics on the helicopter fuselage and in the exhaust plume have been great investigated in previous literatures, most of them are only in hover condition.
Using flight data logged by the avionics and visual tracking system, an uncertain set of parameters are estimated which completely define the plant dynamics for hover flight condition.
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