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You can call for aid as often as you want. The first call is free, and after that, you need to wait around 45 days to get another free call. If you want to call troopers before your free aid is recharged, you'll need to use 4 royal favors.
That's a very good way to balance it I think. I would hate for it to be a 1-time thing because then, just like potions in skyrim, you'll save them until you really need them and before you know it you've killed Alduin with 350 potions in your bag...
Thanks for the summary!
Yes, the "But I'll Need It Later" problem was at the front of my mind while designing this.
Glad it's working! People actually use the royal aid but not trivially; love it.