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首页> 外文期刊>Journal of the American Helicopter Society >Rapid Automatic Slung Load Operations with Unmanned Helicopters
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Rapid Automatic Slung Load Operations with Unmanned Helicopters

机译：无人直升机的快速自动斜载操作

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摘要

Slung load operations often involve following conservative flight paths 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, which is a property of certain systems that allow for advantageous controllers to be developed for nonlinear systems, 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 and modeling the load as a point-mass. An adaptive dynamic inversion controller is used to control the helicopter. A fixed downward-facing camera is used to provide estimates of load position for the feedback controller. Simulation and flight-test results are shown using a Yamaha R-MAX helicopter to validate the proposed method.
机译：甩负荷操作通常涉及遵循保守的飞行路线，以防止不必要的负荷摆动。但是，这样做经常会限制系统的机动能力，并增加完成轨迹的时间。这项工作研究了用直升机快速移动倾斜负载的方法，旨在将其快速准确地传递到固定点。受到以前利用差分平坦度的工作的启发，差分平坦度是某些系统的特性，可以为非线性系统开发有利的控制器，因此开发的控制器不需要仪表化负载或估算负载状态的能力，但不需要排除它。开发了前馈和反馈控制器，该控制器可根据所需的负载路径修改直升机命令。通过忽略所选的高阶项并将负载建模为点质量来简化控制器。自适应动态反转控制器用于控制直升机。固定的朝下摄像头用于为反馈控制器提供负载位置的估计值。使用Yamaha R-MAX直升机显示了仿真和飞行测试结果，以验证所提出的方法。

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