Input Shaping for Helicopter Slung Load Swing Reduction

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

18 Citations (Scopus)
4 Downloads (Pure)

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 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.
Original languageEnglish
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit (2008) : Conference Proceeding Series
PublisherAmerican Institute of Aeronautics and Astronautics
Publication date2008
ISBN (Print)1-56347-945-1, 978-1-56347-945-8
Publication statusPublished - 2008
EventAIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, United States
Duration: 18 Aug 200821 Aug 2008

Conference

ConferenceAIAA Guidance, Navigation and Control Conference and Exhibit
CountryUnited States
CityHonolulu
Period18/08/200821/08/2008

Fingerprint

Slings
Helicopters
Controllers
Trajectories
Adaptive control systems
Feedback
Control systems

Keywords

  • helicopter
  • feedforward
  • slung load
  • input shaping

Cite this

Bisgaard, M., la Cour-Harbo, A., & Bendtsen, J. D. (2008). Input Shaping for Helicopter Slung Load Swing Reduction. In 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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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. in AIAA Guidance, Navigation and Control Conference and Exhibit (2008): Conference Proceeding Series. American Institute of Aeronautics and Astronautics, Honolulu, United States, 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.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-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 - feedforward

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KW - helicopter

KW - feedforward

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KW - input shaping

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SN - 1-56347-945-1

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BT - AIAA Guidance, Navigation and Control Conference and Exhibit (2008)

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