Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States
Technical Report,09 Jul 2014,08 Jul 2016
Pennsylvania State University University Park United States
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The research address the technical challenge of landing a helicopter on a ship in high sea states. An autonomous control law architecture for ship landing is proposed and developed. The controllers are tested using high fidelity simulation models of three classes of generic helicopters light, medium, and heavy. The control design deals with inner and outer loop control, path generation and optimization, and landing using deck tracking and forecasting of deck motion. The control laws were successfully demonstrated in simulation for all three classes of helicopters. Dynamic inversion design proved to be an effective and portable control law, which can be tuned to achieve desired balance in stability margins and disturbance rejection. A deck forecasting algorithm using Minor Components Analysis was developed and integrated with landing path generation algorithms. Path optimization studies developed feasible methods for tailoring approach paths to minimize a weighted objective functions based on airwake disturbances, tracking performance, and power consumption. Future work will conduct comprehensive testing and evaluation of the integrated control laws with optimized approach paths.