Input Shaping for Helicopter Slung Load Swing Reduction

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18 Citationer (Scopus)
4 Downloads (Pure)

Resumé

This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively dampen swing. Simulations and flight tests show the effectiveness of the input
shaping applied to a small scale autonomous helicopter slung load system. Both simulations and flight verifications shows significant slung load swing reduction using the proposed trajectory shaping over over flight without. Indeed it is shown how the system is capable of performing almost completely swing free manoeuvres using the designed input shaper.
OriginalsprogEngelsk
TitelAIAA Guidance, Navigation and Control Conference and Exhibit (2008) : Conference Proceeding Series
ForlagAmerican Institute of Aeronautics and Astronautics
Publikationsdato2008
ISBN (Trykt)1-56347-945-1, 978-1-56347-945-8
StatusUdgivet - 2008
BegivenhedAIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, USA
Varighed: 18 aug. 200821 aug. 2008

Konference

KonferenceAIAA Guidance, Navigation and Control Conference and Exhibit
LandUSA
ByHonolulu
Periode18/08/200821/08/2008

Fingerprint

Slings
Helicopters
Controllers
Trajectories
Adaptive control systems
Feedback
Control systems

Emneord

  • helikopter
  • feedforward
  • slung load
  • input shaping

Citer dette

Bisgaard, M., la Cour-Harbo, A., & Bendtsen, J. D. (2008). Input Shaping for Helicopter Slung Load Swing Reduction. I AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series American Institute of Aeronautics and Astronautics.
Bisgaard, Morten ; la Cour-Harbo, Anders ; Bendtsen, Jan Dimon. / Input Shaping for Helicopter Slung Load Swing Reduction. AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series. American Institute of Aeronautics and Astronautics, 2008.
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title = "Input Shaping for Helicopter Slung Load Swing Reduction",
abstract = "This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively dampen swing. Simulations and flight tests show the effectiveness of the inputshaping applied to a small scale autonomous helicopter slung load system. Both simulations and flight verifications shows significant slung load swing reduction using the proposed trajectory shaping over over flight without. Indeed it is shown how the system is capable of performing almost completely swing free manoeuvres using the designed input shaper.",
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Bisgaard, M, la Cour-Harbo, A & Bendtsen, JD 2008, Input Shaping for Helicopter Slung Load Swing Reduction. i AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series. American Institute of Aeronautics and Astronautics, AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, USA, 18/08/2008.

Input Shaping for Helicopter Slung Load Swing Reduction. / Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon.

AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series. American Institute of Aeronautics and Astronautics, 2008.

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

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AU - la Cour-Harbo, Anders

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N2 - This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively dampen swing. Simulations and flight tests show the effectiveness of the inputshaping applied to a small scale autonomous helicopter slung load system. Both simulations and flight verifications shows significant slung load swing reduction using the proposed trajectory shaping over over flight without. Indeed it is shown how the system is capable of performing almost completely swing free manoeuvres using the designed input shaper.

AB - This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively dampen swing. Simulations and flight tests show the effectiveness of the inputshaping applied to a small scale autonomous helicopter slung load system. Both simulations and flight verifications shows significant slung load swing reduction using the proposed trajectory shaping over over flight without. Indeed it is shown how the system is capable of performing almost completely swing free manoeuvres using the designed input shaper.

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KW - slung load

KW - input shaping

M3 - Article in proceeding

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Bisgaard M, la Cour-Harbo A, Bendtsen JD. Input Shaping for Helicopter Slung Load Swing Reduction. I AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series. American Institute of Aeronautics and Astronautics. 2008