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JRM Vol.28 No.3 pp. 351-359
doi: 10.20965/jrm.2016.p0351
(2016)

Paper:

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Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System

Motomichi Sonobe*, Masafumi Miwa**, and Junichi Hino**

*Kochi University of Technology
Tosayamada-cho, Kami-shi, Kochi 782-8502, Japan

**Tokushima University
2-1 Minami-Josanjima-cho, Tokushima-shi, Tokushima 770-8506, Japan

Received:
August 28, 2015
Accepted:
March 18, 2016
Published:
June 20, 2016
Creative Commons License
Keywords:
small-size helicopter, delayed feedback control, swing damping, double pendulum
Abstract
In this study, a cable-suspended transportation system using a small-size helicopter was investigated. For a secure flight, it is necessary to suppress the swing of the suspended load. For this purpose, a cable angle feedback system was adopted because it is easy to mount the corresponding measuring device on a helicopter. Delayed feedback control was applied for efficient swing damping. The control parameters were obtained using a simple planar double pendulum model that takes into consideration the coupled dynamics of the helicopter and the load. To build the model, the system parameters were identified through frequency response flight tests. In this paper, an appropriate design strategy is reported for a trade-off relationship between vibration damping and piloted handling qualities; the robustness of the control method against disturbances and signal noise was verified by comparing the delayed feedback control method with the real-time angular velocity feedback control method. The damping effect was verified by performing flight tests with three cable lengths.
A small-size helicopter with a suspended load

A small-size helicopter with a suspended load

Cite this article as:
M. Sonobe, M. Miwa, and J. Hino, “Effectiveness of Delayed Feedback Control Applied to a Small-Size Helicopter with a Suspended Load System,” J. Robot. Mechatron., Vol.28 No.3, pp. 351-359, 2016.
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