Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States
Abstract
The research address the technical challenge of landing a helicopter on a ship in high sea states. An autonomous control law architecture for ship landing is proposed and developed. The controllers are tested using high fidelity simulation models of three classes of generic helicopters: light, medium, and heavy. The control design deals with inner and outer loop control, path generation and optimization, and landing using deck tracking and forecasting of deck motion. The control laws were successfully demonstrated in simulation for all three classes of helicopters. Dynamic inversion design proved to be an effective and portable control law, which can be tuned to achieve desired balance in stability margins and disturbance rejection. A deck forecasting algorithm using Minor Components Analysis was developed and integrated with landing path generation algorithms. Path optimization studies developed feasible methods for tailoring approach paths to minimize a weighted objective functions based on airwake disturbances, tracking performance, and power consumption. Future work will conduct comprehensive testing and evaluation of the integrated control laws with optimized approach paths.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 12, 2016
- Accession Number
- AD1013549
Entities
People
- Chengjian He
- Dooyong Lee
- Geraldo Gonzalez
- John Tritschler
- Joseph F. Horn
- Junfeng Yang
- Sean Roark
Organizations
- Pennsylvania State University