Modeling, Estimation, and Control of Helicopter Slung Load System
Modeling, Estimation, and Control of Helicopter Slung Load System
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发表时间：
2008
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通讯作者：
M. Bisgaard
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作者：
M. Bisgaard
直升机悬挂载荷系统的建模、估计和控制本论文讨论了自主直升机悬挂载荷飞行的主题，并向读者介绍了从建模和系统分析到传感器融合和状态估计再到控制器综合的发展道路。重点是沿着两个不同的应用分支：使用直升机吊载系统的普通货物运输和使用直升机吊载部署地雷探测器的排雷。这反映在本论文的方法和贡献中，有些是两个分支共有的，有些是每个分支特有的。本论文的第一个主要贡献是开发了一个完整的直升机和悬挂载荷系统模型，该模型在两个分支之间共享。通用悬挂载荷模型可用于对所有车身到车身悬挂载荷悬架类型进行建模，并提供了一种直观且易于使用的建模和模拟不同悬挂载荷悬架类型的方法。它还包括对钢丝绳松弛和收紧的检测和响应，它对直升机和负载之间的气动耦合进行建模，并且可以用于具有多架直升机和多个负载的任何组合的多升力系统。为了使悬挂载荷的飞行能力，一般货物运输，一个综合的估计和控制系统的开发，已经自主直升机上使用。该估计器仅使用基于视觉的更新，并且由于其估计悬挂系统的长度以及系统状态，所以几乎不需要悬挂负载系统的先验知识。该控制器采用前馈和反馈相结合的方法，同时防止激励摆动，并积极阻尼摆动吊起的负载。对于地雷探测应用程序的估计器，提供完整的系统状态信息，包括吊载航向。采用最优方法设计了通用直升机悬挂载荷系统的线性轨迹跟踪控制器，该控制器可以对任意给定的悬挂系统进行整定。为了产生一个完整的系统参考的控制器，轨迹映射算法的开发。它能够基于动力学和运动学系统行为将期望的悬挂载荷轨迹映射到可行的全状态参考。本文所提出的方法和算法通过系统的仿真和飞行试验进行了验证，结果表明理论与实际吻合良好。V
Modeling, Estimation, and Control of Helicopter Slung Load System This thesis treats the subject of autonomous helicopter slung load flight and presents the reader with a methodology describing the development path from modeling and system analysis over sensor fusion and state estimation to controller synthesis. The focus is directed along two different application branches: Generic cargo transport using a helicopter slung load system and landmine clearing using helicopter slung load deployed mine detector. This is reflected in the methodology and contributions of this thesis where some are shared by the two branches and some are specific for each branch. This first major contribution of this thesis is the development of a complete helicopter and slung load system model that is shared between the two branches. The generic slung load model can be used to model all body to body slung load suspension types and gives an intuitive and easy-to-use way of modeling and simulating different slung load suspension types. It further includes detection and response to wire slacking and tightening, it models the aerodynamic coupling between the helicopter and the load, and can be used for multilift systems with any combination of multiple helicopters and multiple loads. To enable slung load flight capabilities for general cargo transport, an integrated estimation and control system is developed for use on already autonomous helicopters. The estimator uses vision based updates only and needs little prior knowledge of the slung load system as it estimates the length of the suspension system together with the system states. The controller uses a combined feedforward and feedback approach to simultaneously prevent exciting swing and to actively dampen swing in the slung load. For the mine detection application an estimator is developed that provides full system state information, including slung load heading. A linear trajectory tracking controller for the generic helicopter slung load system is devised using an optimal approach and it can be tuned to any given suspension system. To generate a full system reference for the controller, a trajectory mapping algorithm is developed. It is capable of mapping a desired slung load trajectory to a feasible full state reference based on the dynamic and kinematic system behavior. The methods and algorithms developed in this thesis are validated by systematic simulation and flight testing, and the results presented throughout the thesis show very good agreement between theory and practice. V