ANTI-SWING CONTROLLERBASED ON TIME-DELAYED FEEDBACK FOR HELICOPTER SLUNG LOAD SYSTEM NEAR HOVER DOI 10.5028/jatm.2012.04031512

Authors

  • Hanafy Mohammad Omar Qassim University Buraydah

Keywords:

Helicopter, Slung load, Particle swarms, Swing.

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.

Downloads

Published

2012-10-08

Issue

Vol. 4 No. 3 (2012): Jul./Sep.2012

Section

Original Papers

License

This work is licensed under a Creative Commons — Attribution 4.0 International — CC BY 4.0. Authors are free to Share (copy and redistribute the material in any medium or format) and Adapt (remix, transform, and build upon the material for any purpose, even commercially). JATM allow the authors to retain publishing rights without restrictions.