Abstract
Helicopters have unique characteristics enable it to flywith an underslung load in many civil and military operations. But the slung load’s pendulum-like behaviour makes it a highly hazardous and notoriously difficult task which will reduce the helicopter’s flight envelope. To eliminate the slung load’s pendulum-like behaviour, this paper discusses a control strategy for helicopters with slung load by combining Active Disturbance Rejection Control (ADRC) and Input Shaper Technology. The motion of the helicopter/load complex was modeled by the Newton-Euler equations in terms of generalized coordinates and velocities. This mathematical model was then used in conjunction with the control strategy to stabilize the helicopter/load complex. The control results by combining ADRC and Input Shaper Technology were compared with the PID control, and the improvements related to eliminate the slung load’s pendulum-like behaviour were significant.
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