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HALAS – A Helicopter Slung Load Stabilisation and Positioning System for Cargo Handling and Rescue Hoist Operations

Nonnenmacher, Daniel Benjamin and Kim, Hyun-Min and Götz, Joachim and Weber, P. and v. Hinüber, E. and Knedlik, S. (2012) HALAS – A Helicopter Slung Load Stabilisation and Positioning System for Cargo Handling and Rescue Hoist Operations. 61. Deutscher Luft- und Raumfahrtkongress, 10.-12. September 2012, Berlin, Deutschland.

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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 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.

Item URL in elib:https://elib.dlr.de/77310/
Document Type:Conference or Workshop Item (Speech)
Title:HALAS – A Helicopter Slung Load Stabilisation and Positioning System for Cargo Handling and Rescue Hoist Operations
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Nonnenmacher, Daniel Benjamindaniel.nonnenmacher (at) dlr.deUNSPECIFIED
Kim, Hyun-Minhyun-min.kim (at) dlr.deUNSPECIFIED
Götz, Joachimjoachim.goetz (at) dlr.deUNSPECIFIED
Weber, P.iMAR Navigation GmbHUNSPECIFIED
v. Hinüber, E.iMAR Navigation GmbHUNSPECIFIED
Knedlik, S.iMAR Navigation GmbHUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:helicopter, slung load, stabilisation, positioning, modelling, resuce hoist
Event Title:61. Deutscher Luft- und Raumfahrtkongress
Event Location:Berlin, Deutschland
Event Type:national Conference
Event Dates:10.-12. September 2012
Organizer:Deutsche Gesellschaft für Luft- und Raumfahrt Lilienthal-Oberth e.V. (DGLR)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Deposited By: Nonnenmacher, Daniel Benjamin
Deposited On:13 Feb 2013 15:30
Last Modified:23 Feb 2016 11:23

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