Modelling of Generic Slung Load System

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

30 Citations (Scopus)
1 Downloads (Pure)

Abstract

This paper presents the result of 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 gives an intuitive and easy-to-use way of modelling and simulating di erent slung load suspension types and it includes detection and response of wire slacking and tightening, and aerodynamical 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 helicopers or multiple loads. A numerical stabilisation algorithm as well as a trim algorithm is presented for the complete helicopter/load system and finally the use of the model is illustrated through simulations.
Original languageEnglish
Title of host publicationProceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit
Number of pages20
PublisherAIAA
Publication date2006
ISBN (Print)1563478218, 9781563478215
ISBN (Electronic)1563478021, 9781563478024
Publication statusPublished - 2006
EventAIAA Modeling and Simulation Technologies Conference and Exhibit - Keystone, United States
Duration: 21 Aug 200624 Aug 2006

Conference

ConferenceAIAA Modeling and Simulation Technologies Conference and Exhibit
CountryUnited States
CityKeystone
Period21/08/200624/08/2006

Fingerprint

Slings
Helicopters
Stabilization
Wire

Keywords

  • helicopter

Cite this

Bisgaard, M., Bendtsen, J. D., & La Cour-Harbo, A. (2006). Modelling of Generic Slung Load System. In Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit AIAA.
Bisgaard, Morten ; Bendtsen, Jan Dimon ; La Cour-Harbo, Anders. / Modelling of Generic Slung Load System. Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit. AIAA, 2006.
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Bisgaard, M, Bendtsen, JD & La Cour-Harbo, A 2006, Modelling of Generic Slung Load System. in Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit. AIAA, Keystone, United States, 21/08/2006.

Modelling of Generic Slung Load System. / Bisgaard, Morten; Bendtsen, Jan Dimon; La Cour-Harbo, Anders.

Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit. AIAA, 2006.

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

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N2 - This paper presents the result of 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 gives an intuitive and easy-to-use way of modelling and simulating di erent slung load suspension types and it includes detection and response of wire slacking and tightening, and aerodynamical 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 helicopers or multiple loads. A numerical stabilisation algorithm as well as a trim algorithm is presented for the complete helicopter/load system and finally the use of the model is illustrated through simulations.

AB - This paper presents the result of 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 gives an intuitive and easy-to-use way of modelling and simulating di erent slung load suspension types and it includes detection and response of wire slacking and tightening, and aerodynamical 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 helicopers or multiple loads. A numerical stabilisation algorithm as well as a trim algorithm is presented for the complete helicopter/load system and finally the use of the model is illustrated through simulations.

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Bisgaard M, Bendtsen JD, La Cour-Harbo A. Modelling of Generic Slung Load System. In Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit. AIAA. 2006