Dynamics and oscillation control of helicopters carrying large-size loads

Helicopters can be used as aerial cranes. Large-size loads can be slung below helicopters for material-handling services. However, it is challenging for the pilot to manipulate the helicopter moving large-size loads because of the coupling effect among the helicopter's attitudes, load swing, and load twisting. Although some progress has been achieved at helicopters with slung loads, no attention has been directed at dynamics and control of the large-size load twisting for aerial cranes. In order to facilitate flying such helicopters, in this paper, a dynamic model was developed and used to design an oscillation-control method. Simulations illustrated that the control method is effective in restraining the helicopter's attitude, load swing, and load twisting.