Presentation on theme: "STABILIZATION OF HELICOPTER SLING LOADS"— Presentation transcript:
1STABILIZATION OF HELICOPTER SLING LOADS Vefa NarliGood afternoon everyone. Thank you for attending my presentation. My name is Vefa Narli. I am from DASL and my advisor and lab director is Professor Paul Oh. I am going to talk about our test-rig for near-Earth aerial robotics.
2Introduction High Rise Rescue Fire Fighting Hover Offshore ConstructionHoverVertical Take-off and Land
3Transportation Modes of Helicopters 23000 lbs40000 lbs5000 lbs
4Helicopter Sling Loading Capacities ReferenceHelicopterWeightExternal LoadLoad MassRatioCable Length3 ( Handling QualitiesRequirements for MilitaryRotorcraft, Aeronautical DesignStandard)NA0.334 (Requirements for the Certification of Sling Loaded Military Equipment for External Transportation by Department of Defense Helicopters )39800 lbs (max)12-16 ft7UH-60A14600 lbslbs23 ft (single)15.83 ft -(4-legged)40000 lbs3-140 ft11UH-6016000 lbslbsftSuperior HelicopterKamanK-120012000 lbs6000 lbs
5Helicopter Sling Loading Load is suspended beneath the helicopterFree to rotate in all 3 axisLong cable lines are usedRequires pilot effort
6Literature SurveyDukes, T. A., “Maneuvering Heavy Sling Loads Near Hover, Part I: Damping the Pendulous Motion,” Journal of the American Helicopter Society, Vol. 18, (2), AprDukes, T. A., “Maneuvering Heavy Sling Loads Near Hover, Part II: Some Elementary Maneuvers,” Journal of the American Helicopter Society, Vol. 18, (3), July 1973.Poli, C., and Cromack, D., “Dynamics of Slung Bodies Using a Single-Point Suspension System,” Journal of Aircraft, Vol. 10, (2), FebCliff, E. M., and Bailey, D. B., “Dynamic Stability of a Translating Vehicle with a Simple Sling Load,” Journal of Aircraft, Vol. 12, (10), OctNagabhushan, B. L., “Low-Speed Stability Characteristics of a Helicopter With a Sling Load,” Vertica, Vol. 9, 1985.Sheldon, D. F., “An Appreciation of the Dynamic Problems Associated with the External Transportation of Loads from a Helicopter—State of the Art,” Vertica, Vol. 1, 1977.Prabhakar, A., “Stability of a Helicopter Carrying an Underslung Load,” Vertica, Vol. 2, 1978.Cicolani, L. S., Kanning, G., and Synnestvedt, R., “Simulation of the Dynamics ofHelicopter Slung Load Systems,” Journal of the American Helicopter Society, Vol. 40, (4), OctGabel, R., and Wilson, G. J., “Test Approaches to External Sling Load Instabilities,” Journal of the American Helicopter Society, Vol. 13, (3), July 1968.
10Stability of HSL - III [ 11] Level 1 – Load maintains directional stability throughout the maneuvers. Minimal oscillation. Requires minimal concentration by the flight crewLevel 2 – Load may oscillate, rotate. Directional orientation is not stable. Does not pose a threat to the aircraft. ost maneuvers. Moderate oscillation.[ 11]
11Safety - IManwaring, J. C., Conway, G. A., Garrett, L. C., “Epidemiology and Prevention of Helicopter External Load Accidents,” Journal of Safety Research, Vol. 29, No. 2, pp , 1998.
12Safety - II…The helicopter departed with a 150-foot long-line attached and no external load on the hook… After lift-off, the long-line tangled in the trees, causing the helicopter to crash……An Aerospatiale 316B was moving equipment in mountainous terrain with a 100-foot long cable… the cargo hook snagged on an equipment trailer adjacent to the take-off area. As the tension on the line increased, the hook broke free of the trailer and the cable recoiled into the main rotor blades, rendering the helicopter uncontrollable……During the flight to reposition the helicopter that was transporting seismic equipment with a 100-foot long line, the load caught on a nearby fence…
13Literature SurveyLucassen, L. R., and Sterk, F. J., “Dynamic Stability Analysis of a Hovering Helicopter With A Sling Load,” Journal of the American Helicopter Society, Vol. 10, (2), Apr(Dynamics and Stability)Stiles et al, (2004, ,) mention sling load active stabilization as a future direction of research in his review of Helicopter AFCS.
14Statement of the Problem Keep the oscillations of the payload under a critical angle, or deviationThe effect of the load on the helicopter dynamics should not exceed more than 10% of the static weight of the load.System should be adjustable to different line length and load weight and should be robust to 10% changes of the nominal values.
15Approach - I Modified AFCS that stabilizes the slung load Stand-alone stabilizing systemCartesian mechanismSpherical mechanism
16Approach - IICho, S.-K., Lee, H. H., “An Anti-Swing Control of a 3-DimensionalOverhead Crane,” Proceedings of the American Control Conference, Chicago, Illinois,pp , 2000.
17Future Work Anti-sway control of shipboard boom cranes Simulations of a quadrotor suspended massUpdate the statement of the problemStabilization of a 3D suspended pendulum with a cartesian mechanismStabilization of a 3D suspended pendulum with a spherical mechanismUH-60 helicopter MatLAB modelSimulations of 3D suspended pendulum attached to UH-60
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