Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs-Modelling, Simulation and Control Approach

Boix, Daniel Melia; Goh, Keng; McWhinnie, James

Abstract

In this paper, a 3D mathematical model of a helicopter attached to a robotic landing gear is proposed to investigate into helicopter landing on uneven terrain. The landing gear consists of four articulated legs connected to the helicopter fuselage. Each leg has two revolute joints governed by PID joint controllers to generate motion with two degrees of freedom (DoF). A combination of Lagrange and Newton-Euler techniques is used to model the system dynamics, its motion and joint torques. A contact model is introduced to simulate ground interaction forces and a level controller that uses a PI algorithm to maintain the main body desired attitude when landing in two-axes slopes. Simulation results are compared to a second model designed using the SimMechanics toolbox for validation purpose.

Citation

Boix, D. M., Goh, K., & McWhinnie, J. (2018, July). Helicopter Lands on Uneven Terrain by means of Articulated Robotic Legs-Modelling, Simulation and Control Approach. Presented at 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
• Start Date: Jul 9, 2018
• End Date: Jul 12, 2018
• Acceptance Date: Sep 3, 2018
• Publication Date: Sep 3, 2018
• Deposit Date: Oct 25, 2018
• Publicly Available Date: Oct 25, 2018
• Publisher: Institute of Electrical and Electronics Engineers
• Series ISSN: 2159-6255
• Book Title: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
• ISBN: 9781538618547
• DOI: https://doi.org/10.1109/aim.2018.8452431
• Keywords: PID control , robotic landing gear , nonlinear dynamic model , contact model , level controller , simulations
• Public URL: http://researchrepository.napier.ac.uk/Output/1322933