The Princeton Pennsylvania Army Avionics Research Program. Elements of Helicopter Hovering and Near Hover Operations with a Sling Load.
Final task rept. 1 Sep 66-30 Dec 71,
PRINCETON UNIV N J
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, DAMPING, EQUATIONS OF MOTION, PITCHMOTION, MATHEMATICAL MODELS, CONTROL SYSTEMSCOMPUTERIZED SIMULATION, FEEDBACK CONTROLThree aspects of hovering and near-hover maneuvering of helicopters with sling loads are investigated. An elementary helicopter-load model is developed for the case of large attitude rate damping and is used to identify the most significant parameters and their effects on the dynamics. Various feedback loop closures are explored for their usefulness to provide damping to the pendulous helicopter-load motion. Three simple maneuvers are analyzed arresting a swinging load motion, acceleration-deceleration and changing the hover location. Ideal thrust angle inputs are determined with which these elementary tasks can be performed so that there is no relative helicopter-load swinging motion at the end of the maneuver. A new Hover Mode of the earlier developed Integrated Trajectory Error Display ITED is described. Author