Mathematical modeling of an optimal controlled helicopter flight at vertical regimes

The investigation results on developing a mathematical model of the controlled helicopter flight along the vertical trajectory are presented. For motion optimization the direct approximate method is used. The optimizing functional consists of two main parts: the first part is proportional to the motion time; the second part contains penalties for trajectory constraint violation. The examples of calculations and the results of numerical studies are given, the parameters of optimal program reference trajectories are obtained for the helicopter type chosen.