Abstract
This study suggests a flying control method for a helicopter connected to a station on the ground with a power supply and signal cable. Although the helicopter has virtually unlimited flight time on account of power supply from the station, the tension in the cable disrupts the flight of the helicopter. In the proposed method, the static cable tension exerted on the helicopter is estimated on the assumption that the cable can be considered to be a catenary. The attitude reference of the helicopter is modified so that the rotor thrust points in the direction opposite to that of the estimated tension. The estimated tension is balanced out with feedforward compensation. The results of simulations show that the modification of the attitude reference improves the response for horizontal moves and that the feedforward compensation reduces vertical errors.
