Input-shaped manual control of helicopters with suspended loads

dc.contributor.advisor Singhose, William E.
dc.contributor.author Potter, James Jackson
dc.contributor.committeeMember Costello, Mark
dc.contributor.committeeMember Johnson, Eric
dc.contributor.committeeMember Pritchett, Amy
dc.contributor.committeeMember Whiteman, Wayne
dc.contributor.department Mechanical Engineering
dc.date.accessioned 2014-01-13T16:49:00Z
dc.date.available 2014-01-13T16:49:00Z
dc.date.created 2013-12
dc.date.issued 2013-11-18
dc.date.submitted December 2013
dc.date.updated 2014-01-13T16:49:00Z
dc.description.abstract A helicopter can be used to transport a load hanging from a suspension cable. This technique is frequently used in construction, firefighting, and disaster relief operations, among other applications. Unfortunately, the suspended load swings, which makes load positioning difficult and can degrade control of the helicopter. This dissertation investigates the use of input shaping (a command-filtering technique for reducing vibration) to mitigate the load swing problem. The investigation is conducted using two different, but complementary, approaches. One approach studies manual tracking tasks, where a human attempts to make a cursor follow an unpredictably moving target. The second approach studies horizontal repositioning maneuvers on small-scale helicopter systems, including a novel testbed that limits the helicopter and suspended load to move in a vertical plane. Both approaches are used to study how input shaping affects control of a flexible element (the suspended load) and a driven base (the helicopter). In manual tracking experiments, conventional input shapers somewhat degraded control of the driven base but greatly improved control of the flexible element. New input shapers were designed to improve load control without negatively affecting base control. A method for adjusting the vibration-limiting aggressiveness of any input shaper between unshaped and fully shaped was also developed. Next, horizontal repositioning maneuvers were performed on the helicopter testbed using a human-pilot-like feedback controller from the literature, with parameter values scaled to match the fast dynamics of the model helicopter. It was found that some input shapers reduced settling time and peak load swing when applied to Attitude Command or Translational Rate Command response types. When the load was used as a position reference instead of the helicopter, the system was unstable without input shaping, and adding input shaping to a Translational Rate Command was able to stabilize the load-positioning system. These results show the potential to improve the safety and efficiency of helicopter suspended load operations.
dc.description.degree Ph.D.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/50342
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Helicopter
dc.subject Input shaping
dc.subject Command filter
dc.subject Sling load
dc.subject Flexible system
dc.subject Manual control
dc.subject Human-in-the-loop control
dc.subject Operator study
dc.subject Handling qualities
dc.subject Experimental platform
dc.subject Dynamic modeling
dc.subject.lcsh Helicopters
dc.subject.lcsh Flight control
dc.subject.lcsh Cranes, derricks, etc. Dynamics
dc.subject.lcsh Feedback control systems
dc.subject.lcsh Damping (Mechanics)
dc.title Input-shaped manual control of helicopters with suspended loads
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Singhose, William E.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication c5aa5269-887b-41cf-b472-9c7e4a4dd8e0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Doctoral
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