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.
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.
| Original language | English |
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| Title of host publication | Proceedings for AIAA Guidance Navigation and Control Conference |
| Number of pages | 11 |
| Publisher | American Institute of Aeronautics and Astronautics |
| Publication date | 2009 |
| ISBN (Electronic) | 978-1-56347-978-6, 1-56347-978-8 |
| Publication status | Published - 2009 |
| Event | AIAA Guidance, Navigation, and Control Conference - Chicago, United States Duration: 10 Aug 2009 → 13 Aug 2009 Conference number: 2009 |
Conference
| Conference | AIAA Guidance, Navigation, and Control Conference |
|---|---|
| Number | 2009 |
| Country/Territory | United States |
| City | Chicago |
| Period | 10/08/2009 → 13/08/2009 |
| Series | AIAA Meeting Papers on Disc |
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Keywords
- helicopter
- delayed control
- delayed resonator
- swing damping
- slung load