115 小型ヘリコプタにおける吊り下げ物体の振動制御

概要

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Recently, unmanned helicopter is widely used for crop-dusting, overhead wiring work, aerial photographing, etc. This paper describes how to control and design parameters for a helicopter slung load system. Recent studies on the system have proposed control methods to suppress the residual vibration. But, in many instances, they used state estimator and accurate modeling of the helicopter and slung load system. We focus on the case that slung load is attached to the helicopter had been designed for a solo flight. The present method gives reference values to the postural control of fuselage to suppress the residual vibration and the reference value calculated by delayed feedback. Therefore, this method needs no state estimator and no accurate system parameters. Further, to design control parameters, we propose a simple design approach based on root locus of a plane model. The effectiveness of the present control method is verified by experiments. The control parameters designed by cut-and-try experimentally correspond to the parameters designed by the presented simple design approach.
2011-09-05