Anti-swing Controller Based on Time-delayed Feedback for Helicopter Slung Load System near Hover

Omar, Hanafy Mohammad

doi:10.5028/jatm.2012.04031512

Abstract:

In this paper, a new anti-swing controller for helicopter slung load system near hover flight is proposed. This controller is based on time-delayed feedback of the load swing angles. The output from this controller is additional displacement that was added to the helicopter trajectory in the longitudinal and lateral directions. Hence, its implementation is simple and it only needs a small modification to the software of helicopter position controller. The parameters of the controllers are determined using the method of particle swarms by minimizing an index, which is a function of the load swing history. The simulation results show the effectiveness of the proposed controller in suppressing the swing of the suspended load and the stabilization of the helicopter.

Keywords:
Helicopter; Slung load; Particle swarms; Swing

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REFERENCES

Abzug, M., 1970, "Dynamics and control of helicopters with two cable sling loads", In AIAA 2nd Aircraft Design and Operations Meeting, number AIAA-70-929, American Institute of Aeronautics and Astronautics.
Asseo, S. and Whitbeck, R., 1973, "Control requirements for sling-load stabilization in heavy lift helicopters", Journal of the American Helicopter Society, Vol. 18, pp. 23-31.
Bisgaard, M. et al., 2006, "Modeling of a Generic Slung Load System", In AIAA Modeling and Simulation Conference, Colorado.
Briczinski, S. and Karas, G., 1971, "Criteria for Externally Suspended Helicopter Loads", Technical Report USAAMRDL-TR-71-61, U.S. Army Air Mobility Research and Development Laboratory.
Cera, J. and Farmer, S.W.J., 1974, "A Method of Automatically Stabilizing Helicopter Sling Loads", Technical Note NASATN-D-7593, NASA Langley Research Center.
Cicolani, L. and Kanning, G., 1992, "Equations of Motion of Slung-load Systems", Including Multilift Systems, Technical Paper NASA-TP-3280, NASA Ames Research Center.
Fusato, D. et al., 1999, "Flight Dynamics Of An Articulated Rotor Helicopter with an External Slung Load", American Helicopter Society 55th Annual Forum, Montreal, Canada.
Kennedy, J., 1997, "The Particle Swarm: Social Adaptation of Knowledge", In Proceedings of the 1997 IEEE international Conference on Evolutionary Computation ICEC.'97, Indianapolis, Indiana, USA, pp. 303-308.
Masoud, Z.N. et al., 2002, "Sway reduction on container cranes using delayed feedback controller", In Proceedings of the 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, Denver, CO, AIAA-2002-1279.
Omar H. M. and Nayfeh, A.H., 2005, "Anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation" , Shock And Vibration, Vol. 12, No. 2, pp. 73-89.
Omar, H.M., 2005, "Dynamics of helicopter slung load system near hover" Technical Report, Aerospace Department, KFUPM.
Poli, C. and Cromack, D., 1973, "Dynamics of Slung Bodies Using a Single-Point Suspension System", Journal of Aircraft, Vol. 10, No. 2, pp. 80-86.
Prouty, R.W., 2003, "Helicopter Performance, Stability, and Control", Kreiger Publishing Company.
Raz, R. et al., 1989, "Active aerodynamic stabilization of a helicopter/sling-load system", AIAA Journal of Aircraft, Vol. 26, pp. 822-828.
Shi, Y. and Eberhart, R., 1998, "Parameter Selection in Particle Swarm Optimization", In Proceedings of the 7th Annual Conference on Evolutionary Programming, pp. 591-600.
Stuckey, R.A., 2001, "Mathematical Modeling of Helicopter Slung-Load Systems", Technical Report, Air Operations Division, Aeronautical and Maritime Research Laboratory, Australia.
Wolkovitch, J. and Johnston, D., 1965, "Automatic Control Considerations for Helicopter and VTOL Aircraft With and Without Sling Loads", Technical Report 138-1, Systems Technology Inc.

Publication Dates

Publication in this collection
Jul-Sep 2012

History

Received
10 Mar 2012
Accepted
13 May 2012

This is an Open Access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

[1] Abzug, M., 1970, "Dynamics and control of helicopters with two cable sling loads", In AIAA 2nd Aircraft Design and Operations Meeting, number AIAA-70-929, American Institute of Aeronautics and Astronautics.

[2] Asseo, S. and Whitbeck, R., 1973, "Control requirements for sling-load stabilization in heavy lift helicopters", Journal of the American Helicopter Society, Vol. 18, pp. 23-31.

[3] Bisgaard, M. et al., 2006, "Modeling of a Generic Slung Load System", In AIAA Modeling and Simulation Conference, Colorado.

[4] Briczinski, S. and Karas, G., 1971, "Criteria for Externally Suspended Helicopter Loads", Technical Report USAAMRDL-TR-71-61, U.S. Army Air Mobility Research and Development Laboratory.

[5] Cera, J. and Farmer, S.W.J., 1974, "A Method of Automatically Stabilizing Helicopter Sling Loads", Technical Note NASATN-D-7593, NASA Langley Research Center.

[6] Cicolani, L. and Kanning, G., 1992, "Equations of Motion of Slung-load Systems", Including Multilift Systems, Technical Paper NASA-TP-3280, NASA Ames Research Center.

[7] Fusato, D. et al., 1999, "Flight Dynamics Of An Articulated Rotor Helicopter with an External Slung Load", American Helicopter Society 55th Annual Forum, Montreal, Canada.

[8] Kennedy, J., 1997, "The Particle Swarm: Social Adaptation of Knowledge", In Proceedings of the 1997 IEEE international Conference on Evolutionary Computation ICEC.'97, Indianapolis, Indiana, USA, pp. 303-308.

[9] Masoud, Z.N. et al., 2002, "Sway reduction on container cranes using delayed feedback controller", In Proceedings of the 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, Denver, CO, AIAA-2002-1279.

[10] Omar H. M. and Nayfeh, A.H., 2005, "Anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation" , Shock And Vibration, Vol. 12, No. 2, pp. 73-89.

[11] Omar, H.M., 2005, "Dynamics of helicopter slung load system near hover" Technical Report, Aerospace Department, KFUPM.

[12] Poli, C. and Cromack, D., 1973, "Dynamics of Slung Bodies Using a Single-Point Suspension System", Journal of Aircraft, Vol. 10, No. 2, pp. 80-86.

[13] Prouty, R.W., 2003, "Helicopter Performance, Stability, and Control", Kreiger Publishing Company.

[14] Raz, R. et al., 1989, "Active aerodynamic stabilization of a helicopter/sling-load system", AIAA Journal of Aircraft, Vol. 26, pp. 822-828.

[15] Shi, Y. and Eberhart, R., 1998, "Parameter Selection in Particle Swarm Optimization", In Proceedings of the 7th Annual Conference on Evolutionary Programming, pp. 591-600.

[16] Stuckey, R.A., 2001, "Mathematical Modeling of Helicopter Slung-Load Systems", Technical Report, Air Operations Division, Aeronautical and Maritime Research Laboratory, Australia.

[17] Wolkovitch, J. and Johnston, D., 1965, "Automatic Control Considerations for Helicopter and VTOL Aircraft With and Without Sling Loads", Technical Report 138-1, Systems Technology Inc.

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