• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.365-377
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• 2017

In this paper, we propose a method to identify the parameters of a rotorcraft slung load system using the modal characteristics of a flexible cable. The proposed method estimates the length of the cable and the mass of the payload by means of a frequency analysis. Dynamic equations of the slung load system with the flexible cable are derived using Udwadia-Kalaba equation (UKE) in order to build a simulation program, and the similarity of the simulated slung load movement is verified by comparison with flight test results. Using the computer simulation program, we show that the proposed method works well within various parameter ranges.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1209-1216
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• 2014

This paper copes with control design for unmanned aerial vehicle transportation system. Moving pendulum dynamics of slung-load system is derived using two methods: Udwadia-Kalaba equation and Newtonian approach. PID controller is applied to Udwadia-Kalaba equation model for structural consistency and linear quadratic Gaussian / Loop Transfer Recovery (LQG/LTR) technique is employed for Newtonian model with minimal state-space realization. Characteristics of PID and LQG/LTR controller are compared, and two controllers are combined to compensate the drawbacks of each other. Numerical simulation is set for two cases and conducted to evaluate performance of designed controllers. The result proves that combination of LQG/LTR and PID control performs stable and robust.