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Automatic control of a helicopter with a hanging loadAn autopilot logic is designed here for controlling a helicopter with a hanging load. A 16th order model for the system is decoupled into four subsystems: (1) a second order system for yawing motion, (2) a second order system for vertical motion, (3) a sixth order system for longitudinal motion, and (4) a sixth order system for lateral motion. A measuring scheme, which could be used in remote areas, is developed and filters are designed to estimate the state variables from these measurements. The autopilot can be used to move the load over short distances without retracting the cables. This is done by automatically shifting the autopilot modes from position-hold (hover) to acceleration-hold to velocity-hold (cruise) to deceleration-hold to velocity-hold (near hover) to position-hold (hover). Use of such an autopilot might save considerable turnaround time. The Sikorsky S-61 helicopter is chosen as an example vehicle. The performance of the controlled system is studied in the presence of longitudinal and lateral winds.
Document ID
19740005602
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Gupta, N. K. (Stanford Univ. CA, United States)
Bryson, A. E., Jr. (Stanford Univ. CA, United States)
Date Acquired
September 3, 2013
Publication Date
June 1, 1973
Subject Category
Aircraft
Report/Patent Number
SUDAAR-459
NASA-CR-136504
Accession Number
74N13715
Funding Number(s)
CONTRACT_GRANT: NAS2-5143
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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