Research on Hardware-in-loop Simulation Platform of Anti-swing Control for Helicopter Suspension

In order to solve the problems of long preparation period, high cost and high risk in anti-swing control test for real helicopter, a hardware-in-loop(HIL) simulation platform of anti-swing control for helicopter slung load system is designed. 6-DOF robot is employed to imitate the movement of the slung load for helicopter, and the large swing of the slung load in the longitudinal direction the fuselage is simulated by external control rail with robot arm. In this paper, the anti-swing controller is designed to realize the anti-swing control of the helicopter slung-load, at the same time, hardware-in-loop simulation experiment is carried out. The experimental results show that the swing angle/angular velocity of the slung load which relative to the fuselage in the lateral and longitudinal directions can converge and close to zero gradually, meanwhile the vibration amplitude of the robot becomes more and more smaller. So it proves that the hardware-in-loop simulation platform can be used to study anti-swing control for helicopter suspension.