Swing Damping for Helicopter Slung Load Systems using Delayed Feedback

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Abstract

This paper presents the design and verification of a swing reducing controller for helicopter slung load systems using
intentional delayed feedback. It is intended for augmenting a trajectory tracking helicopter controller and thereby improving the slung load handing capabilities for autonomous helicopters. The delayed feedback controller is added to actively reduce oscillations of the slung load by improving the damping of the slung load pendulum modes. Furthermore, it is intended for integration with a feedforward control scheme based on input shaping for concurrent avoidance and dampening of swing. The design of the delayed feedback controller is presented as an optimization problem which gives the possibility of an automated design process. Simulations and flight test verifications of the control system on two different autonomous helicopters are presented and it is shown how a significant improvement of oscillation damping can be achieved.
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Detaljer

This paper presents the design and verification of a swing reducing controller for helicopter slung load systems using
intentional delayed feedback. It is intended for augmenting a trajectory tracking helicopter controller and thereby improving the slung load handing capabilities for autonomous helicopters. The delayed feedback controller is added to actively reduce oscillations of the slung load by improving the damping of the slung load pendulum modes. Furthermore, it is intended for integration with a feedforward control scheme based on input shaping for concurrent avoidance and dampening of swing. The design of the delayed feedback controller is presented as an optimization problem which gives the possibility of an automated design process. Simulations and flight test verifications of the control system on two different autonomous helicopters are presented and it is shown how a significant improvement of oscillation damping can be achieved.
OriginalsprogEngelsk
TitelProceedings for AIAA Guidance Navigation and Control Conference
Antal sider11
ForlagAmerican Institute of Aeronautics and Astronautics
Publikationsdato2009
ISBN (Elektronisk)978-1-56347-978-6, 1-56347-978-8
StatusUdgivet - 2009
PublikationsartForskning
Peer reviewJa
BegivenhedAIAA Guidance, Navigation, and Control Conference - Chicago, USA
Varighed: 10 aug. 200913 aug. 2009
Konferencens nummer: 2009

Konference

KonferenceAIAA Guidance, Navigation, and Control Conference
Nummer2009
LandUSA
ByChicago
Periode10/08/200913/08/2009
NavnAIAA Meeting Papers on Disc

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