Modeling of Generic Slung Load System

This paper presents the result of the modelling and verification of a generic slung load system using a small-scale helicopter. The model is intended for use in simulation, pilot training, estimation, and control. The model is derived using a redundant coordinate formulation based on Gauss' Principle of Least Constraint using the Udwadia-Kalaba equation and can be used to model all body to body slung load suspension types. The model provides intuitive and easy-to-use means of modelling and simulating different slung load suspension types. It includes detection of, and response to, wire slackening and tightening as well as aerodynamic coupling between the helicopter and the load. Furthermore, it is shown how the model can be easily used for multi-lift systems either with multiple helicopters or multiple loads. A numerical stabilisation algorithm is introduced and finally the use of the model is illustrated through simulations and flight verifications.