Helicopter Sling Load Pendulum Damping

Kurzfassung

Helicopters carrying sling loads suffer a decrease in handling qualities. In addition, the pilot control task is expanded by controlling the sling load. Both factors contribute to a significant increase in pilot workload, which can lead to a reduction in flight safety. In order to support sling load operations, the control of the load - damping and stabilization of the load pendulum swing - can be automatized by means of feedback of the load dynamic. The load pendulum controllers are integrated into an existing AFCS, featuring limitations in actuator rate and saturation. Based on a comprehensive simulation of the overall helicopter-slings-load system, an algorithm for the automatic determination of optimal feedback controllers has been developed. Selected controllers are tested for the potential of increasing the load pendulum damping and for the robustness under parameter variations.