H Control Laws for Helicopter Sling Load Flight

Changqi Liu, Aijun Li, Zuo Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

In response to the current status of helicopter sling flight research both domestically and internationally, this paper proposes a helicopter sling flight control law design method based on H theory. Taking the UH-60A Black Hawk helicopter and CONNEX container as examples, a single-point sling model is used to connect the helicopter with the suspended load. The dynamics equations of both the helicopter and suspended load are modified using the sling model to complete nonlinear dynamic modeling. Wind disturbance inputs are incorporated into the model, and small perturbation theory is applied to linearize the model, leading to the design of an H controller. Numerical simulations were conducted to test the control performance of the H controller under sensor noise, showing excellent velocity control. Additionally, robustness tests with changes in the mass of the suspended load demonstrate that the H control law maintains effective control under varying load conditions, proving its excellent control characteristics and robustness in helicopter sling flight.

源语言英语
主期刊名Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 9
编辑Liang Yan, Haibin Duan, Yimin Deng
出版商Springer Science and Business Media Deutschland GmbH
1-10
页数10
ISBN(印刷版)9789819622313
DOI
出版状态已出版 - 2025
活动International Conference on Guidance, Navigation and Control, ICGNC 2024 - Changsha, 中国
期限: 9 8月 202411 8月 2024

出版系列

姓名Lecture Notes in Electrical Engineering
1345 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Guidance, Navigation and Control, ICGNC 2024
国家/地区中国
Changsha
时期9/08/2411/08/24

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