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General simulation equations are derived for the rigid body motion of slung load systems. These systems are viewed as consisting of several rigid bodies connected by straight-line cables or links. The suspension can be assumed to be elastic or inelastic, both cases being of interest in simulation and control studies. Equations for the general system are obtained via D'Alembert's principle and the introduction of generalized velocity coordinates. Three forms are obtained. Two of these generalize previous case-specific results for single helicopter systems with elastic or inelastic suspensions. The third is a new formulation for inelastic suspensions. It is derived from the elastic suspension equations by choosing the generalized coordinates so as to separate motion due to cable stretching from motion with invariant cable lengths. The result is computationally more efficient than the conventional formulation, and is readily integrated with the elastic suspension formulation and readily applied to the complex dual lift and multilift systems. Equations are derived for dual lift systems. Three proposed suspension arrangements can be integrated in a single equation set. The equations are given in terms of the natural vectors and matrices of three-dimensional rigid body mechanics and are tractable for both analysis and programming. Cicolani, Luigi S. and Kanning, Gerd Ames Research Center RTOP 505-66-01...
General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar. Cicolani, Luigi S. and Kanning, Gerd Ames Research Center ALGORITHMS; EQUATIONS OF MOTION; HAULING; HELICOPTERS; LOADS (FORCES); RIGID STRUCTURES; SUSPENDING (HANGING); TETHERING; COM...
A selection of annotated references to unclassified reports and journal articles that were introduced into the NASA scientific and technical information system and announced in Scientific and technical aerospace reports (STAR) and International aerospace abstracts (IAA)