Abstract To support helicopter pilots during slung load operations currently a pilot assistance system called Hubschrauber-Außenlast-Assistenzsystem (HALAS) is being developed within a cooperation of the German Aerospace Centre (DLR) and iMAR Navigation GmbH. The objective of this research is the demonstration of an automatic slung load stabilisation and positioning system during the flight test with DLR’s research helicopter Active Control Technology/Flying Helicopter Simulator (ACT/FHS). The automatic slung load control system is being designed to extend the functionalities of the helicopter’s stability, control and augmentation system. The control system will be able to handle the challenges of rescue hoist operations. This means compensation of additional roll, pitch and yaw moments created by a significant distance of the load suspension point to the helicopter’s centre of gravity and the handling of a variable cable length. To measure the slung load motion, an optical-inertial sensor is being developed by iMAR Navigation GmbH. In this paper, the overall system architecture of HALAS as well as the hardware integration into the ACT/FHS is explained. The optical-inertial sensor used for the slung load dynamics measurement and estimation is described in detail. Furthermore, a first system analysis of a simulation model used for the later controller design is presented. The focus of the stability analysis is laid on variations of cable length, load mass and load suspension point position. The control law development process itself is not part of this paper but will be published later.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    System architecture of HALAS—a helicopter slung load stabilisation and positioning system


    Beteiligte:
    Nonnenmacher, D. (Autor:in) / Kim, H. (Autor:in) / Götz, J. (Autor:in) / Weber, P. (Autor:in) / von Hinüber, E. (Autor:in) / Knedlik, S. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2013




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    50.03 Methoden und Techniken der Ingenieurwissenschaften / 50.03 Methoden und Techniken der Ingenieurwissenschaften, Methoden und Techniken der Ingenieurwissenschaften / 55.50 Luftfahrzeugtechnik / 55.50 Luftfahrzeugtechnik, Luftfahrzeugtechnik
    DDC:    629.105




    System architecture of HALAS—a helicopter slung load stabilisation and positioning system

    Nonnenmacher, D. / Kim, H. / Götz, J. et al. | Springer Verlag | 2013


    Full State Estimation for Helicopter Slung Load System

    Bisgaard, Morten / la Cour-Harbo, Anders / Bendtsen, Jan Dimon | BASE | 2007

    Freier Zugriff

    HELICOPTER OBSTACLE AVOIDANCE WITH SLUNG LOAD

    DADKHAH TEHRANI NAVID / CARLSON SEAN S / POLYCARPE CAUVIN | Europäisches Patentamt | 2024

    Freier Zugriff

    Full State Estimation for Helicopter Slung Load System

    Bisgaard, Morten / la Cour-Harbo, Anders / Bendtsen, Jan | AIAA | 2007