Automatic control of a helicopter with a hanging load

An autopilot logic is designed here for controlling a helicopter with a hanging load. A 16th order model for the system is decoupled into four subsystems: (1) a second order system for yawing motion, (2) a second order system for vertical motion, (3) a sixth order system for longitudinal motion, and (4) a sixth order system for lateral motion. A measuring scheme, which could be used in remote areas, is developed and filters are designed to estimate the state variables from these measurements. The autopilot can be used to move the load over short distances without retracting the cables. This is done by automatically shifting the autopilot modes from position-hold (hover) to acceleration-hold to velocity-hold (cruise) to deceleration-hold to velocity-hold (near hover) to position-hold (hover). Use of such an autopilot might save considerable turnaround time. The Sikorsky S-61 helicopter is chosen as an example vehicle. The performance of the controlled system is studied in the presence of longitudinal and lateral winds

Smoothing for time-varying systems using measurements containing colored noise

Optimal smoother derived for linear time-varying systems using measurements containing colored noise by means of calculus of variation

Improved navigation by combining VOR/DME information with air or inertial data

The improvement was determined in navigational accuracy obtainable by combining VOR/DME information (from one or two stations) with air data (airspeed and heading) or with data from an inertial navigation system (INS) by means of a maximum-likelihood filter. It was found that the addition of air data to the information from one VOR/DME station reduces the RMS position error by a factor of about 2, whereas the addition of inertial data from a low-quality INS reduces the RMS position error by a factor of about 3. The use of information from two VOR/DME stations with air or inertial data yields large factors of improvement in RMS position accuracy over the use of a single VOR/DME station, roughly 15 to 20 for the air-data case and 25 to 35 for the inertial-data case. As far as position accuracy is concerned, at most one VOR station need be used. When continuously updating an INS with VOR/DME information, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy

Synthesis of hover autopilots for rotary-wing VTOL aircraft

The practical situation is considered where imperfect information on only a few rotor and fuselage state variables is available. Filters are designed to estimate all the state variables from noisy measurements of fuselage pitch/roll angles and from noisy measurements of both fuselage and rotor pitch/roll angles. The mean square response of the vehicle to a very gusty, random wind is computed using various filter/controllers and is found to be quite satisfactory although, of course, not so good as when one has perfect information (idealized case). The second part of the report considers precision hover over a point on the ground. A vehicle model without rotor dynamics is used and feedback signals in position and integral of position error are added. The mean square response of the vehicle to a very gusty, random wind is computed, assuming perfect information feedback, and is found to be excellent. The integral error feedback gives zero position error for a steady wind, and smaller position error for a random wind

Estimation using sampled-data containing sequentially correlated noise

Filtering, prediction, and smoothing procedures for multi-stage linear dynamic systems using sampled data with sequentially correlated nois

Multi-input, multi-output regulator design for constant disturbances and non-zero set points with application to automatic landing in a crosswind

Undesirable steady offsets result when a stationary, linear regulator using state feedback is subjected to constant disturbances and/or non-zero setspoints. To eliminate these offsets, the disturbances and non-zero setpoints can be fed forward to the control. Only when the number of outputs is less than or equal to the number of control inputs can the outputs be maintained at arbitrary non-zero setpoints. The state and the disturbance may be estimated using a constant gain Kalman filter or by modeling the constant disturbances as exponentially correlated processes with long correlation times

A terminal guidance scheme for lifting body entry vehicles

Perturbation feedback guidance for terminal phase of lifting body entry vehicl

Active stabilization of a flexible antenna feed tower

Active stabilization logic is synthesized to hold a feed at the focus of a spacecraft antenna dish. The feed support structure is modeled as a tetrahedron made up of flexible bars and connected to the dish by six short legs containing force actuators. Using the symmetry of the structure, the model can be decomposed into four uncoupled subsystems: pitch/forward motions with four degrees of freedom (DOF) and two controls; roll/lateral motions with four DOF and two controls; vertical motions with three DOF and one control; and yaw motion with one DOF and one control. This greatly simplifies the synthesis of control logic

The separate computation of arcs for optimal flight paths with state variable inequality constraints

Computation of arcs for optimal flight paths with state variable inequality constraint

Long-range energy-state maneuvers for minimum time to specified terminal conditions.

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76474/1/AIAA-1973-229-104.pd