The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2A1-G08
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2A1-G08 Cable Tension Compensation Control for Helicopters Cabled to Ground Station
Takanori SAKAI, Masaaki MINOTANI, Atsushi IMADU, Shouma IZUHARA, Hirotaka NOGUCHI
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Keywords: Cabled helicopter, Control
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Abstract
This paper suggests cable tension compensation control for helicopters cabled to the ground station. This method can be applied to human operated system and reduces required skill. In this method, cable tension vector is measured by a force sensor and an angle sensor mounted on the helicopter. Thrust and helicopter attitude to balance with resultant force of the tension and the gravity force are calculated and added to control input by PID control.
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© 2015 The Japan Society of Mechanical Engineers
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