Load distribution strategy for multi-lift system with helicopters based on power consumption and robust adaptive game control

Trajectory planning for a multihelicopter transportation system requires optimizing numerous variables while considering obstacle avoidance, formation shape change, multibody dynamics and other feasibility constraints, making it challenging to achieve real-time effectiveness and convergence. To overcome this issue, a real-time trajectory planning method based on differential flatness and a minimum control effort (MINCO) trajectory expression is proposed. This method enables the implicit consideration of dynamic constraints and formation shape change requirements, and it handles obstacle avoidance and feasibility constraints linearly, reducing the complexity of planning. Specifically, the flatness characteristics and related assumptions of the system are given in detail by considering two cases where the load is modeled as a mass point or a rigid body. The obstacle avoidance trajectory planning problem is transformed into an unconstrained optimization problem based on MINCO and its spatial–temporal deformation. This optimization aims to minimize the trajectory energy and total time consumption while considering cost functions related to load obstacle avoidance, load state feasibility, helicopter obstacle avoidance, swarm avoidance between helicopters, cable obstacle avoidance, and cable force feasibility constraints. Finally, simulations are conducted in both cases where the load is modeled as a mass point and a rigid body to verify the feasibility of the proposed method. Overall, the proposed method has the potential to solve the problem of trajectory planning with obstacle avoidance in a multihelicopter transportation system in real time with improved efficiency and effectiveness.

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Dynamic Computation of an Innovative Device for Reducing Reaction Torque

Timofte,

Korka,

Gerocs

et al. 2024

Computation

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As is well known, the torque produced by a rotating motor generates an opposite and equal reaction torque in the machine casing that must be transmitted to the base. In many applications, especially when the reaction moment has high values, it is necessary to apply some constructive solutions, which in certain cases are difficult to implement. In this context, the need to reduce the reaction moment from drive motors is a challenging topic which has not been completely exhausted. In this paper, the authors present an original concept of a device which uses the centrifugal force generated by some equidistantly placed weights on a chain drive for reducing the reaction torque of the motor used for driving a rotating tool. The proposed system is capable of producing a supplementary torque which can be added to the driving moment. Due to this fact, by using this system, the power of the driving motor can be decreased, with the consequence of reducing the reaction moment that must be absorbed by the base.

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Load distribution strategy for multi-lift system with helicopters based on power consumption and robust adaptive game control

Cited by 3 publications

References 23 publications

Optimal Formation of Heterogeneous Drones Carrying a Load

Optimal Formation of Heterogeneous Drones Carrying a Load

Differential Flatness-Based Real-Time Trajectory Planning for Multihelicopter Cooperative Transportation in Crowded Environments

Dynamic Computation of an Innovative Device for Reducing Reaction Torque

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