地上局とケーブルでつながれたヘリコプターの3次元張力補償制御

抄録

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, three-dimensional 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. Experimental result illustrate validity of the proposed method