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

An experimental investigation of transonic flow past two-dimensional wedge and circular-arc sections using a Mach-Zehnder interferometer

Report presents the results of interferometer measurements of the flow field near two-dimensional wedge and circular-arc sections of zero angle of attack at high-subsonic and low-supersonic velocities. Both subsonic flow with local supersonic zone and supersonic flow with detached shock wave have been investigated. Pressure distributions and drag coefficients as a function of Mach number have been obtained. The wedge data are compared with the theoretical work on flow past wedge sections of Guderley and Yoshihara, Vincenti and Wagner, and Cole. Pressure distributions and drag coefficients for the wedge and circular-arc sections are presented throughout the entire transonic range of velocities

Covid-19 and Rapid Adoption and Improvisation of Online Teaching: Curating Resources for Extensive versus Intensive Online Learning Experiences

The COVID-19 pandemic closed university campuses forcing rapid improvisation and adoption of online teaching. This paper explores the experience of converting three modules from proximate to online learning delivery in March and May 2020. This process was facilitated by reflective practice to support a process of improvisation as a buffering response to the pandemic. This paper distinguishes between the development of Distance Learning programmes compared to rapid adoption of online learning. Shifting to complete online teaching involves a process by which the lecturer’s role transitions towards the curation of online and offline student experiences. This includes facilitating and blending extensive and intensive online learning experiences. Extensive involves the selection and curation of online learning support bundles. This requires the creation of learning roadmaps to facilitate student learning. Intensive revolves around online engagement between academics and students and takes two forms: shallow as involving a limited dialogue with students and deep which involves a co-creation process between students and lecturers. Online learning provides opportunities to adapt learning experiences in real-time. The paper evaluates the shift to online practice from the students’ and academics’ perspectives

A terminal guidance scheme for lifting body entry vehicles

Perturbation feedback guidance for terminal phase of lifting body entry vehicl

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