TY - JOUR
T1 - Rapid automated slung load operations with conventional helicopters
AU - Haviland, Stephen
AU - Bershadsky, Dmitry
AU - Johnson, Eric N.
N1 - Funding Information:
This study is funded by the U.S. Army under the Vertical Lift Research Center of Excellence program managed by the National Rotorcraft Technology Center (NRTC), Aviation and Missile Research, Development and Engineering Center under cooperative agreement W911W6-11-2-0010 between the Georgia Institute of Technology and the U.S. Army Aviation Applied Technology Directorate. The authors would like to acknowledge that this research and development were accomplished with the support and guidance of the NRTC. The views and conclusions contained in this paper are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Aviation and Missile Research, Development and Engineering Center, or the U.S. Government. The authors would like to thank the support staff at Fort Benning and the other UAV research facility (UAVRF) members that helped in the flight tests.
PY - 2018
Y1 - 2018
N2 - Slung-load operations often involve conservative flight paths in order to prevent unwanted swing of the load. However, doing so often limits the maneuvering capability of the system and increases the time to complete trajectories. This work investigates methods to rapidly move a slung load with a helicopter with the intent to deliver it quickly and precisely to a fixed point. Inspired by prior work utilizing differential flatness, the controller developed does not require instrumentation of the load or the ability to estimate the state of the load but does not preclude it. A feedforward and feedback controller was developed that modifies the helicopter commands based on the desired load path. The controller is simplified by neglecting selected higher order terms. An adaptive dynamic inversion controller is used to control the helicopter. Simulation and flight test results are shown to validate the proposed method.
AB - Slung-load operations often involve conservative flight paths in order to prevent unwanted swing of the load. However, doing so often limits the maneuvering capability of the system and increases the time to complete trajectories. This work investigates methods to rapidly move a slung load with a helicopter with the intent to deliver it quickly and precisely to a fixed point. Inspired by prior work utilizing differential flatness, the controller developed does not require instrumentation of the load or the ability to estimate the state of the load but does not preclude it. A feedforward and feedback controller was developed that modifies the helicopter commands based on the desired load path. The controller is simplified by neglecting selected higher order terms. An adaptive dynamic inversion controller is used to control the helicopter. Simulation and flight test results are shown to validate the proposed method.
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M3 - Conference article
AN - SCOPUS:85054496114
SN - 1552-2938
VL - 2018-May
JO - Annual Forum Proceedings - AHS International
JF - Annual Forum Proceedings - AHS International
T2 - 74th American Helicopter Society International Annual Forum and Technology Display 2018: The Future of Vertical Flight
Y2 - 14 May 2018 through 17 May 2018
ER -