The construction of algorithms for the control of the group flight of helicopters during joint ferrying of cargo on an external suspension, which guarantee that the cargo moves along the specified trajectory with desired characteristics, is examined based on the example of two aircraft. The control algorithms are constructed by the methodology for solving inverse dynamics problems. The procedure for the construction of the algorithms involves the sequential synthesis of the external control loop; first, the algorithm for controlling the cargo coordinates is constructed, then the one for controlling the pendulum angles, and, finally, the algorithm for controlling the relative motion of the helicopters. Standard helicopter autopilots are used for the control in the internal loop. The described methodology contains only the basic precepts, which can be extended to a large number of helicopters and admit the development of the specifics for the application to other flight regimes and other types of mathematical models.
Constructing algorithms for the control of the group flight of helicopters in joint ferrying of cargo on an external suspension
Entwurf von Algorithmen für die Regelung des Gruppenflugs von Hubschraubern beim gemeinsamen Transport von Fracht an externer Aufhängung
Soviet Journal of Computer and System Sciences ; 29 , 4 ; 57-61
1991
5 Seiten, 7 Quellen
Article (Journal)
English
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