Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System
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- Sonobe Motomichi
- Kochi University of Technology
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- Miwa Masafumi
- Tokushima University
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- Hino Junichi
- Tokushima University
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説明
<p>In this study, a cable-suspended transportation system using a small-size helicopter was investigated. For a secure flight, it is necessary to suppress the swing of the suspended load. For this purpose, a cable angle feedback system was adopted because it is easy to mount the corresponding measuring device on a helicopter. Delayed feedback control was applied for efficient swing damping. The control parameters were obtained using a simple planar double pendulum model that takes into consideration the coupled dynamics of the helicopter and the load. To build the model, the system parameters were identified through frequency response flight tests. In this paper, an appropriate design strategy is reported for a trade-off relationship between vibration damping and piloted handling qualities; the robustness of the control method against disturbances and signal noise was verified by comparing the delayed feedback control method with the real-time angular velocity feedback control method. The damping effect was verified by performing flight tests with three cable lengths.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 28 (3), 351-359, 2016-06-20
富士技術出版株式会社
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詳細情報 詳細情報について
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- CRID
- 1390001288150493824
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- NII論文ID
- 130007671073
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 027568439
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可