This article describes the results of modeling and analysis of a generic internal cargo system using a discretization method of the vector mechanics. The model can be easily incorporated into a tandem helicopter model and is intended for use of simulation and investigating the problems of flight dynamics, control, etc., both in flight operation loading a cargo and flight operation in the process of airdrops. The model is derived by considering the main descriptions of the cargo, including the linear and rotational dynamics, the kinematics, and the forces and moments acting on the helicopter. A simulation method embedded with a numerical trim algorithm is developed for the complete coupling helicopter/cargo nonlinear dynamics system. The simulation application of the model is illustrated, including the case of flight operation loading a cargo by considering three mass configurations of 3000, 4500, and 6000 kg, and the case of flight operation in the process of airdrops at velocities of 0, 40, 80, 120, and 160 knots. Stabilities of the helicopter in the process of airdrops are also analyzed. The major conclusions drawn are: (i) the tandem helicopter has a good attitude maintaining ability in the whole flight velocity envelope when it conducts a flight operation loading a cargo; (ii) in the process of airdrops, the increase in flight velocity will constantly decrease the helicopter pitching attitude and increases the total airdrop time and decreases the backward moving velocity of the cargo, and helicopter flying at a velocity between 80 and 120 knots might be acceptable; (iii) the stabilities of both the longitudinal and lateral periodic modes are continuing to decrease during the backward movement of the cargo.
New approach for localization and smart data transmission inside underground mine environment