Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-27T23:19:59.108Z Has data issue: false hasContentIssue false
  • English
  • Français

Load transportation system based on autonomous small size helicopters

Published online by Cambridge University Press:  03 February 2016

M. Bernard ,
K. Kondak  and
G. Hommel
M. Bernard
Affiliation:
[email protected], TU-Berlin, Germany
K. Kondak
Affiliation:
[email protected]
G. Hommel
Affiliation:
[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper is devoted to modelling and control algorithms for a slung load transportation system composed of one or multiple helicopters, where the load is coupled by the means of flexible ropes (see Fig. 1). The coupled helicopter system overcomes the payload limitation of a single small size helicopter, while keeping most of its advantages: small costs of operation, low maintenance costs and increased safeness. Therefore, the system can be utilised whenever the use of full size helicopters is impossible, too expensive or prohibited by law. We focus on the deployment and repairing of distributed sensor networks, using a transportation system based on multiple small size helicopters. A possible real world application is the deployment of fire fighting equipment, where space limitation of the fire trucks prohibits the application of bigger UAVs and using full size helicopters is too dangerous. The problem of load transportation using one or two full size helicopters (twin lift helicopter system), connected to the load by means of flexible ropes, has been discussed in the aerospace research community at least since 1960. We have shown in our previous work that there is a fundamental difference in the mathematical description between small and full size helicopters. Therefore, also the control design for the case of small size helicopters needs to be different. To our knowledge, the control of a slung load transportation system composed of multiple small size helicopters has not been studied until now. In this paper, the complete mechanical setup of the slung load transportation system based on one or more small size helicopters is presented. This includes a short description of the used UAVs, the additionally required sensors, and how the load is mounted. A model of one/multiple helicopters transporting a load is introduced. This model is used in a simplified form for the controller design and in full form for simulation. The controller for one and two helicopters, which is based on a state feedback controller, as well as the controller for three and more helicopters, which is based on a non linear controller, are explained in detail. Both controllers utilise an underlying non-linear orientation controller. We propose a feedback loop, based on forces measured in the ropes, to compensate for the influence of the rope. The controllers were tested in simulation and in real flight experiments. The world wide first flight experiment with three coupled helicopters was successfully conducted at the end of 2007.

Type
Research Article
Information
The Aeronautical Journal , Volume 114 , Issue 1153 , March 2010 , pp. 191 - 198
Copyright
Copyright © Royal Aeronautical Society 2010 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Glauert, H., The stability of a body towed by a light wire, Tech Rep 1312, Great Britain Aeronautical research Committee, 1930.Google Scholar
2. Poll, C. and Cromack, D., Dynamics of slung bodies using a singlepoint suspension system, J Aircr, 1973, 10, pp 80–86.Google Scholar
3. Cliff, E.M. and Bailey, D.B., Dynamic stability of a translating vehicle with a simple sling load, J Aircr, 1975, 12, pp 773–777.Google Scholar
4. Micale, E.C. and Poli, C., Dynamics of slung bodies utilizing a rotating wheel for stability, J Aircr, 1973, 10, pp 760–763.Google Scholar
5. Feaster, L., Poli, C. and Kirchhoff, R., Dynamics of a slung load, J Aircr, 1977, 14, pp 115–121.Google Scholar
6. Raz, R., Rosen, A. and Ronen, T., Active aerdynamic stablization of a helicopter/sling-load system, J Aircr, 1989, 26, pp 822–828.Google Scholar
7. Gupta, N.K. and JR Near-hover, A.E.B., control of a helicopter with a hanging load, J Aircr, 1976, 13, pp 217–222.Google Scholar
8. Faille, D. and Van Der Weiden, A., Robust regulation of a flying crane, in Proceedings of the 4th IEEE Conference on Control Applications, 1995.Google Scholar
9. Theodore, C.R., Tischler, M.B. and Colbourne, J.D., Rapid frequency-domain modeling methods for unmanned aerial vehicle flight control applications, J Aircr, 2004, 41, pp 735–743.Google Scholar
10. Hess, R.A. and Tran, P.M., Pilot/vehicle analysis of a twin-lift helicopter configuration in hover, J Guidance, Control, and Dynamics, 1988, 11, pp 465–472.Google Scholar
11. Menon, P.K.A., Prasad, J.V.R. and Schrage, D.P., Nonlinear control of a twin-lift helicopter configuration, J Guidance, Control, and Dynamics, 1991, 14, pp 1287–1293.Google Scholar
12. Reynolds, H.K. and Rodriguez, A.A., H-inf control of a twin lift helicopter system, in Proceedings oft the 31th Conference on Decision and Control, 1992.Google Scholar
13. Mittal, M., Prasad, J. and Srage, P., Nonlinear adaptive control of a twin lift helicopter system, in IEEE Control Systems, 1991.Google Scholar
14. Mittal, M. and Prasad, J.V.R., Three-dimensional modeling and control of a twin-lift helicopter system, J Guidance, Control, and Dynamics, 1993, 16, pp 86–95.Google Scholar
15. Kondak, K., Bernard, M., Losse, N. and Hommel, G., Elaborated modeling and control for autonomous small size helicopters, in ISR/ROBOTIK 2006 Joint conference on robotics, 2006.Google Scholar
16. Kondak, K., Bernard, M., Meyer, N. and Hommel, G., Autonomously flying VTOL-robots: Modeling and control, in IEEE Int Conf on Robotics and Automation, 2007, pp 2375–2380.Google Scholar
17. Bisgaard, M., Bendtsen, J. and Cour-Harbo, A.L., Modelling of generic slung load system, in AIAA Modeling and Simulation Technologies Conference and Exhibit, 2006.Google Scholar
18. Bisgaard, M., Modeling, Estimation, and Control of Helicopter Slung Load System, PhD thesis, Department of Electronic Systems Section for Automation and Control Aalborg University, 2007.Google Scholar
19. Johnson, W., Helicopter Theory, Dover Publications, 1980.Google Scholar
20. Bernard, M., Kondak, K., Zhang, N.M.Y. and Hommel, G., Elaborated modeling and control for an autonomous quad-rotor, in Int Unmanned Air Vehicle Systems Conf, 2007, pp 2375–2380.Google Scholar