書誌事項
- タイトル別名
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- Study on Simple Vibration Control for Small-Size Helicopter with Slung Load System (Experiment Based Studies of the Vibration Control on Hovering)
説明
This paper describes a simple vibration suppression control method for a small-size helicopter with slung load system. The vibration suppression control for slung load is essential to improve stability of the flight because weight of a helicopter is relatively light. In past studies, the subject is analyzed by using the model which is a couple of rigid bodies containing a helicopter and a slung load, and controlled by state feedback combined with some sort of estimators. It requires accurate model and system parameters. However it is difficult for general users to build an appropriate model and to identify system parameters in terms of small-size helicopters. In this work we develop a simple control method which superposes vibration control of slung load on postural control of helicopter. By using delayed feedback, we can suppress the vibration without using state feedback in hovering situation. Furthermore, we will demonstrate a technique designing control parameters and verify the effectiveness by experiments.
収録刊行物
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- 日本機械学会論文集Ｃ編
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日本機械学会論文集Ｃ編 78 (789), 1460-1469, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681363705344
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- NII論文ID
- 130002051408
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- ISSN
- 18848354
- 03875024
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可