欢迎来到天天文库
浏览记录
ID:40706511
大小:1.16 MB
页数:12页
时间:2019-08-06
《Adaptive control system for autonomous helicopter slung load operations》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、ARTICLEINPRESSControlEngineeringPractice18(2010)800–811ContentslistsavailableatScienceDirectControlEngineeringPracticejournalhomepage:www.elsevier.com/locate/conengpracAdaptivecontrolsystemforautonomoushelicopterslungloadoperationsMortenBisgaard,AnderslaCour-Harbo,Jan
2、DimonBendtsenDepartmentofElectronicSystems,AalborgUniversity,9220AalborgEast,DenmarkarticleinfoabstractArticlehistory:ThispaperpresentsdesignandverificationofanestimationandcontrolsystemforahelicopterslungReceived31March2009loadsystem.Theestimatorprovidespositionandvelo
3、cityestimatesoftheslungloadandisdesignedtoAccepted29January2010augmentexistingnavigationinautonomoushelicopters.SensorinputisprovidedbyavisionsystemonAvailableonline5March2010thehelicopterthatmeasuresthepositionoftheslungload.ThecontrollerisacombinedfeedforwardKeywords
4、:andfeedbackschemeforsimultaneousavoidanceofswingexcitationandactiveswingdamping.HelicoptercontrolSimulationsandlaboratoryflighttestsshowtheeffectivenessofthecombinedcontrolsystem,yieldingDelaysignificantloadswingreductioncomparedtothebaselinecontroller.Feedforwardcontro
5、l&2010ElsevierLtd.Allrightsreserved.KalmanfiltersAutonomousvehiclesFrequencyestimation1.Introductionathree-stepapproach:FirstaslungloadestimatorcapableofestimatingthelengthofthesuspensionsystemtogetherwiththeAhelicopterisahighlyversatileaerialvehicleanditsuniquesystemst
6、ates,andtherebyallowingthemodeltobeadapted,isflyingcharacteristicsenableittocarryloadshanginginwiresdesignedusingvision-basedsensordata.Thesecondstepistheunderneaththehelicopter.Flyingwithanunderslungloadisdevelopmentofafeedforwardcontrolsystembasedoninputknownaseithers
7、lungloadorslingloadflightanditiswidelyshapingthatcanbeputonanexistingautonomoushelicopterandusedfordifferentkindsofcargotransport.However,flyingaslungmakeitcapableofperformingmanoeuvreswithaslungloadloadcanbeaverychallengingandsometimeshazardoustaskasawithoutinducingresi
8、dualoscillations.Thefinalandthirdstepisslungloadsignificantlyalterstheflightcharacteristicsofthetodesignafeedbackcontrol
此文档下载收益归作者所有