Modeling of Generic Slung Load System

This paper presents the annotated result of the modeling and verification of it generic slung-load system using a small-scale helicopter. The model Is intended for use in simulation, pilot training, estimation, and control. The model is derived using a redundant coordinate formulation based on Gauss's Principle (if Least Constraint using the Udwadia-Kalaba equation and can he used to model all body-to-body slung-load suspension types. The model provides Intuitive and easy-to-use means or modeling and simulating different slung-load suspension types. It includes defection of, and response to, wire slackening and tightening, as well as aerodynamic coupling between the helicopter and the load. Furthermore, it Is shown how the model can he easily used for multilift systems, either with multiple helicopters or multiple loads. A numerical stabilization algorithm is introduced, and, finally, the use or the model is illustrated through simulations and flight verifications.