Abstract
The paper presents a control algorithm for a helicopter automatic approach and landing on a moving confined platform. It discusses landing on a sea vessel deck as a representative case for a mobile confined area. The dynamic model of a single rotor helicopter with a control system, developed in the FLIGHTLAB environment, and validated against flight tests data, is used to investigate control efficiency. The developed control method is based on the Linear Quadratic Regulator combined with prediction of motion of the landing area. An important part of the research was analysis of availability of the data needed for controlling the rotorcraft. The simulations of approach and landing on a moving vessel in various environmental conditions confirmed the efficiency of the developed control methodology.
Highlights
Helicopters perform a variety of missions, very often operating in degraded environmental and visual conditions, which may affect flight safety
The validated by flight test data comprehensive model of helicopter and control system dynamics was developed in the FLIGHTLAB environment and used for implementing the novel control algorithm based on Linear Quadratic Regulator (LQR) control with predicting motion of the landing area
The simulated helicopter flight was composed of three phases: approach to the landing deck, hovering above it, and final landing with touchdown
Summary
Helicopters perform a variety of missions, very often operating in degraded environmental and visual conditions, which may affect flight safety. Development of a helicopter automatic control system performing landing on a moving, confined platform must take into account several factors, such as dynamics of the helicopter itself and its control system, available data from sensors, control strategy, environmental conditions and vessel motion. The research presented in this paper responds to a practical need of a holistic approach to complete control system development, used for automatic approach and landing on a moving vessel deck, which takes into account available sensor data, requirements for trajectory planning according to the published procedures and simplicity of computation to be applicable in real time. The novelty of our approach is development of the integrated control system composed of an automatic control and a prediction algorithm which may be used for an approach and landing of a helicopter on a moving confined area in various environmental conditions, reducing the risk in comparison to VOLUME 8, 2020. The efficiency of software will be validated, in terms of applicability in a simulator as the step of the project
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