Swing Damping for Helicopter Slung Load Systems using Delayed Feedback

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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.
Original languageEnglish
Title of host publicationProceedings for AIAA Guidance Navigation and Control Conference
Number of pages11
PublisherAmerican Institute of Aeronautics and Astronautics
Publication date2009
ISBN (Electronic)978-1-56347-978-6, 1-56347-978-8
Publication statusPublished - 2009
EventAIAA Guidance, Navigation, and Control Conference - Chicago, United States
Duration: 10 Aug 200913 Aug 2009
Conference number: 2009

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference
Number2009
CountryUnited States
CityChicago
Period10/08/200913/08/2009
SeriesAIAA Meeting Papers on Disc

Fingerprint

Slings
Helicopters
Damping
Feedback
Controllers
Feedforward control
Pendulums
Trajectories
Control systems

Keywords

  • helicopter
  • delayed control
  • delayed resonator
  • swing damping
  • slung load

Cite this

Bisgaard, M., la Cour-Harbo, A., & Bendtsen, J. D. (2009). Swing Damping for Helicopter Slung Load Systems using Delayed Feedback. In Proceedings for AIAA Guidance Navigation and Control Conference American Institute of Aeronautics and Astronautics. AIAA Meeting Papers on Disc
Bisgaard, Morten ; la Cour-Harbo, Anders ; Bendtsen, Jan Dimon. / Swing Damping for Helicopter Slung Load Systems using Delayed Feedback. Proceedings for AIAA Guidance Navigation and Control Conference. American Institute of Aeronautics and Astronautics, 2009. (AIAA Meeting Papers on Disc).
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abstract = "This paper presents the design and verification of a swing reducing controller for helicopter slung load systems usingintentional 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.",
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Bisgaard, M, la Cour-Harbo, A & Bendtsen, JD 2009, Swing Damping for Helicopter Slung Load Systems using Delayed Feedback. in Proceedings for AIAA Guidance Navigation and Control Conference. American Institute of Aeronautics and Astronautics, AIAA Meeting Papers on Disc, Chicago, United States, 10/08/2009.

Swing Damping for Helicopter Slung Load Systems using Delayed Feedback. / Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon.

Proceedings for AIAA Guidance Navigation and Control Conference. American Institute of Aeronautics and Astronautics, 2009. (AIAA Meeting Papers on Disc).

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

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N2 - This paper presents the design and verification of a swing reducing controller for helicopter slung load systems usingintentional 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.

AB - This paper presents the design and verification of a swing reducing controller for helicopter slung load systems usingintentional 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.

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Bisgaard M, la Cour-Harbo A, Bendtsen JD. Swing Damping for Helicopter Slung Load Systems using Delayed Feedback. In Proceedings for AIAA Guidance Navigation and Control Conference. American Institute of Aeronautics and Astronautics. 2009. (AIAA Meeting Papers on Disc).