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A Time-varying Divide Method Applied to Helicopter Suspension Load Swing Angle Stabilization

A load swing, helicopter technology, applied in the direction of instruments, calculations, electrical digital data processing, etc., can solve problems such as division by zero cannot be solved

Active Publication Date: 2019-01-22
SYSU CMU SHUNDE INT JOINT RES INST +1
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and methods, to provide a time-varying division method applied to the stabilization of the swing angle of the helicopter hanging load, which can overcome the problem of dividing by zero that cannot be solved by the traditional static division method

Method used

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  • A Time-varying Divide Method Applied to Helicopter Suspension Load Swing Angle Stabilization
  • A Time-varying Divide Method Applied to Helicopter Suspension Load Swing Angle Stabilization
  • A Time-varying Divide Method Applied to Helicopter Suspension Load Swing Angle Stabilization

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Embodiment Construction

[0026] The method of the present invention will be further described below in conjunction with the accompanying drawings.

[0027] figure 2 Simplified model for helicopter rigging. Neglecting the influence of the airflow generated by the rotor on the movement of the helicopter and the load, and considering the load as a mass point, the dynamic equation of the helicopter suspension model is as follows:

[0028]

[0029] Among them, x is the displacement of the helicopter, is the acceleration of the helicopter, θ is the load swing angle, is the load swing angular velocity, is the load swing angular acceleration, m is the load mass, M is the mass of the helicopter, l is the length of the sling, F x is the horizontal driving force of the helicopter, and g is the gravitational acceleration constant. The time variable t as an independent variable is omitted here. To achieve the desired stabilization goal θ d = 0, combined with the dynamic equation of the helicopter sus...

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Abstract

The invention provides a time varying division method applied to stabilization of a swinging angle of a hanging load of a helicopter. The method includes the following steps: 1), giving a dynamical equation of a helicopter hanging simplified model, and acquiring relevant parameters; 2) establishing a mathematic model for stabilization control of the swinging angle of the hanging load of the helicopter based on the dynamical equation of the step 1, and providing a time varying division question; and 3) designing a solver and performing real-time solution to the time varying division question of the step 2. According to the time varying division method applied to stabilization of the swinging angle of the hanging load of the helicopter, the solver is simple, and the problem of that the conventional static division method occurs an abnormal state during a divide-by-zero situation can be avoided.

Description

technical field [0001] The invention relates to a method for dealing with the problem of stabilizing the swing angle of a helicopter hanging load, in particular to a time-varying division method capable of solving the problem of dividing by zero. Background technique [0002] During helicopter transportation, the motion of the load will exhibit physical characteristics similar to that of a simple pendulum. The load oscillation caused by the movement of the helicopter and external disturbance not only seriously affects the improvement of transportation efficiency, but also has an adverse effect on the flight of the helicopter. If the stable control of the helicopter's hanging load is realized, the transportation efficiency of the helicopter will be greatly improved, the driving pressure of the driver will be relieved, and the safe transportation of the helicopter will be ensured. Therefore, it has very important application value to realize the stability control of the helic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F7/535
CPCG06F7/535
Inventor 张雨浓肖辉楠丁亚琼王金金陈佩
Owner SYSU CMU SHUNDE INT JOINT RES INST
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