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The dynamics model for coaxial lifting rotors can be used to study the controller design and flight simulation for coaxial-rotor aerial vehicles. However, both the computational efficiency and the accuracy should be considered. First, the computational model of the induced velocity of lifting rotor everywhere including the wake region is derived based on adjoint theorem. Then, the finite state dynamics model for coaxial lifting rotors with wake skew considered is developed by extending the finite state inflow model for single rotor. Finally, the equations for calculating the thrust of coaxial lifting rotors in the hover condition are given, and the test is conducted. The results show that the computational complexity of the proposed dynamics model for coaxial lifting rotors is acceptable, and the computational thrusts are almost close to the test results when the rotational speed is within a certain range, which can also reflect the trend of the thrust lost for coaxial lifting rotors.

In this paper, period-3 motions to chaos in the periodically forced, softening Duffing oscillator are investigated analytically. The analytical solutions for period-3 and period-6 motions are approximated through the generalized harmonic balance method. The bifurcation trees of period-3 motions to chaos are presented analytically. The symmetric and asymmetric period-3 motions are found. The symmetric to asymmetric period-3 motions experience the saddle-node bifurcation. From the Hopf bifurcation of the asymmetric period-3 motion, period-6 motions are determined analytically from the bifurcation tree of period-3 motions. Such an investigation provides a complete picture of period-3 motions to period-6 motions. With such bifurcation tree, the chaotic motions relative to period-3 motions in such a softening Duffing oscillator can be determined analytically. In a similar fashion, other bifurcation trees of period-m motions to chaos can be determined analytically. [ABSTRACT FROM AUTHOR]

In this paper, the generalized harmonic balance method is presented for approximate, analytical solutions of periodic motions in nonlinear dynamical systems. The nonlinear damping, periodically forced, Duffing oscillator is studied as a sample problem. The approximate, analytical solution of period-1 periodic motion of such an oscillator is obtained by the generalized harmonic balance method. The stability and bifurcation analysis of the HB2 approximate solution of period-1 motions in the forced Duffing oscillator is carried out, and the parameter map for such HB2 solutions is achieved. Numerical illustrations of period-1 motions are presented. Similarly, the same ideas can be extended to period-k motions in such an oscillator. The methodology presented in this paper can be applied to other nonlinear vibration systems, which are independent of small parameters. [ABSTRACT FROM PUBLISHER]