Abstract

Motion-induced oscillations of helicopter sling load seriously degrade their effectiveness and safety. The modeling and dynamics of helicopter sling load are derived. A novel control scheme is designed for reducing the payload swing. Simulations of a large range of motions and various system parameters are used to analyze the dynamic behavior and the robustness of the control scheme. Experimental results obtained from a model helicopter sling load validate the simulated dynamic behavior and the effectiveness of the control scheme.

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