Stochastic control of helicopter suspended load position
نویسندگان
چکیده
Modelling of the motion of a helicopter with a suspended load is described. The mathematical model takes into account stochastic disturbances acting on the load suspension point. The proposed approach allows solution of the problem of optimal control with minimization of oscillation and control power expenditure. The evolution of the system solution with time is investigated for various disturbance intensities. Computer calculation results are presented as a function of the suspension length and the intensity of stochastic disturbances.
منابع مشابه
List of Symbols and Acronyms
DASC Time-delayed anti-swing controller FHL Force transferred from the load to the helicopter kd Gain of the delayed feedback controller L Load cable length mL Load mass MHL Moment transferred from the load to the helicopter N Number of particles in the PSO PSO Particle swarm optimization algorithm RH Hook position vector RL Load position vector p,q,r Helicopter angular velocities Vmax Maximum ...
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