Robust anti-swing technology for helicopter slung load based on wave control

被引：0
|
作者：
Li H. [1 ]
Han Y. [1 ]
机构：
[1] School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2024年 / 50卷 / 05期
关键词：
anti-swing controller; dynamical model; helicopter slung load system; state feedback; wave control;
D O I：
10.13700/j.bh.1001-5965.2022.0326
中图分类号：
学科分类号：
摘要：
Application of helicopter to transport heavy and bulky loads creates various stability problems especially during maneuvering from level flight to hovering; thus, it is significant to reduce the swing amplitude of suspended loads. An anti-swing controller is designed for a helicopter with slung loads by using wave control method. A nonlinear mathematical model with four degrees of freedom for the helicopter is developed by applying Lagrangian analysis method. Then the developed model is linearized by little disturbance method in equilibrium operating points. On this basis, a state feedback controller is designed with eigenvalue configuration method. An anti-swing wave controller is then designed to reduce the pendulum angle. The simulation shows that the control of the pendulum angle and helicopter position has good dynamic performance and stability. Different biases of slung-load mass in the simulation verify that the designed wave controller has strong robustness, thus demonstrating the effectiveness of the designed wave controller. © 2024 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：1629 / 1638
页数：9
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