Cooperative-transportation dynamics and oscillation control of two helicopters transporting a rigid load

IF 4.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Applied Mathematical Modelling Pub Date : 2025-03-22 DOI:10.1016/j.apm.2025.116111

Guanfu Li, Jie Huang, Jiajun Chen

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引用次数: 0

Abstract

The twin helicopter slung system can be effectively utilized for handling rigid loads. Nevertheless, the intense oscillations caused by the coupling dynamics of two helicopters, cables, and slung loads complicate the transportation system, reduce transportation efficiency, and bring pilot challenges. While considerable research has been conducted on twin or multiple helicopters suspending a load, fewer studies have addressed the coupling characteristics among multi-helicopter attitudes, multi-cable swing, and cable-suspended loads pitch. This paper established an analytical dynamic model of twin helicopters carrying a rigid load in the horizontal position undergoing planar motions. The model accurately describes the effects of load size on the dynamics of horizontal lifting motions and the differences in the coupled oscillations between the two helicopters and two cables. Additionally, a hybrid control architecture, integrating a dual-feedback model-tracking controller with two cascaded discontinuous piecewise smoothers, was designed to simultaneously reject external disturbances and minimize oscillations. The simulation results verified the dynamics of transportation system, and quantitatively prove the effectiveness of the proposed controller in comparison to a prior controller.

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来源期刊

Applied Mathematical Modelling 数学-工程：综合

CiteScore

9.80

自引率

8.00%

发文量

508

审稿时长

43 days

期刊介绍： Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.