Flight Science & Technology Research Group
The Control of Helicopters with Underslung External Loads
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Feedback: mdw@liv.ac.uk
The
project starts with a stability analysis of a helicopter with an
underslung external load by simulation studies. The analysis has
indicated that the helicopter becomes less stable with the
influence of the dynamics of an underslung load. The stability
margin is affected by a number of load factors. This, in turn, will
bring difficulties to the pilot whilst manoeuvring
and impact on operation and flight safety. The project objective is
to develop a robust control strategy to address the problems caused
by the underslung load.
The
system is treated as the cascade connection of two subsystems, the
underslung load and the helicopter. A mathematical model of the
underslung load has been developed and attached to the original
helicopter model, resulting in a cascade connected nonlinear system
with complex coupling terms. The underslung load is attached to the
helicopter at a single point and can swing freely, but is driven by
the dynamics of the helicopter through the attachment point.
Deterministic robust control is proposed for this particular
system. The control system drives the helicopter’s dynamics to a
desired manifold that will drive the underslung load to have an
acceptable dynamic behaviour.
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