Modeling and Robust Tracking Decoupling Control of a Coaxial Unmanned Helicopter Based on the Improved Alternating Direction Method of Multipliers

Table 4

Length of each operating stage of the rotor head and Bershiller coefficient.

Symbol	Physical meaning	Numerical value
	SW turntable radius	0.020 m
	MR pitch arm	0.032 m
	Connecting rod of Bershiller mixer	0.015 m
		0.017 m
	Bell coefficient	0.322
	Mixing force arm on SB	0.050 m
	SB pitch force arm	0.024 m
	Variable gain connecting rod of SB controlled by the slider	0.013 m
		0.0029 m
	Shearer coefficient	0.7324