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System Architecture of HALAS - A Helicopter Slung Load Stabilisation and Positioning System

Nonnenmacher, Daniel Benjamin and Kim, Hyun-Min and Götz, Joachim and Weber, Pascal and von Hinüber, Edgar and Knedlik, Stefan (2013) System Architecture of HALAS - A Helicopter Slung Load Stabilisation and Positioning System. CEAS Aeronautical Journal. Springer. doi: [10.1007/s13272-013-0095-7]. ISSN 1869-5590.

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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 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.

Item URL in elib:https://elib.dlr.de/88564/
Document Type:Article
Title:System Architecture of HALAS - A Helicopter Slung Load Stabilisation and Positioning System
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Nonnenmacher, Daniel Benjamindaniel.nonnenmacher (at) dlr.deUNSPECIFIED
Kim, Hyun-Minhyun-min.kim (at) dlr.deUNSPECIFIED
von Hinüber, EdgariMAR GmbHUNSPECIFIED
Date:10 December 2013
Journal or Publication Title:CEAS Aeronautical Journal
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :[10.1007/s13272-013-0095-7]
Keywords:Helicopter, Slung load, Automatic stabilisation, Automatic positioning, Rescue hoist
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 Innovative Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Deposited By: Nonnenmacher, Daniel Benjamin
Deposited On:20 Mar 2014 16:47
Last Modified:08 Mar 2018 19:01

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