A helicopter can be used to transport a load hanging from a suspension cable. This technique is frequently used in construction, firefighting, and disaster relief operations, among other applications. Unfortunately, the suspended load swings, which makes load positioning difficult and can degrade control of the helicopter. This dissertation investigates the use of input shaping (a command-filtering technique for reducing vibration) to mitigate the load swing problem. The investigation is conducted using two different, but complementary, approaches. One approach studies manual tracking tasks, where a human attempts to make a cursor follow an unpredictably moving target. The second approach studies horizontal repositioning maneuvers on small-scale helicopter systems, including a novel testbed that limits the helicopter and suspended load to move in a vertical plane. Both approaches are used to study how input shaping affects control of a flexible element (the suspended load) and a driven base (the helicopter). In manual tracking experiments, conventional input shapers somewhat degraded control of the driven base but greatly improved control of the flexible element. New input shapers were designed to improve load control without negatively affecting base control. A method for adjusting the vibration-limiting aggressiveness of any input shaper between unshaped and fully shaped was also developed. Next, horizontal repositioning maneuvers were performed on the helicopter testbed using a human-pilot-like feedback controller from the literature, with parameter values scaled to match the fast dynamics of the model helicopter. It was found that some input shapers reduced settling time and peak load swing when applied to Attitude Command or Translational Rate Command response types. When the load was used as a position reference instead of the helicopter, the system was unstable without input shaping, and adding input shaping to a Translational Rate Command was able to stabilize the load-positioning system. These results show the potential to improve the safety and efficiency of helicopter suspended load operations.

Le phénomène de résonance sol (PRS) est une instabilité pouvant survenir lorsque l’hélicoptère est au sol et le rotor est en marche ; elle peut vite aboutir à la destruction de l’appareil. L’origine de l’instabilité est un couplage entre les mouvements de roulis du fuselage posée sur le train d’atterrissage et le mouvement asymétrique de l’ensemble des pales dans le plan du rotor principal. Etudier théoriquement des alternatives de stabilisation par des absorbeurs de vibration linéaires (tuned mass dampers - TMD) et non linéaires (nonlinear energy sinks - NES) c’est le sujet de ce travail de thèse. Ces possibilités sont étudiées en ajoutant à un modèle minimal d’un hélicoptère à quatre pales identiques (rotor isotrope),précédemment étudié par l’équipe de l’ISAE, d’abord, un TMD au fuselage, puis des TMD identiques auniveau de l’articulation des pales du rotor. Ensuite, des dispositifs à raideur purement non linéaire (NES)sont considérées, d’abord, au fuselage, puis, aux pales du rotor (NES identiques). / Helicopter ground resonance (HGR) is an instability phenomenon that can occur when helicopters exhibit a spinning rotor when grounded; it can lead the structure to rapidly break apart. The phenomenon originates from a coupling between asymmetric modes of in plane blade oscillations (lead/ lag) and the roll of a grounded fuselage. The verification of alternative stabilization devices such as tuned mass dampers (TMD) and nonlinear absorbers (nonlinear energy sinks - NES) is the objective of this thesis. These possibilities are theoretically investigated by embedding a four-bladed helicopter minimal model - proposed and previously studied by the ISAE team - first, with a TMD in the fuselage, then with four identical TMDs in each blade lag hinge. Then, a NES attached to the fuselage is considered and eventually a set of four identical NES attached to the blade lag hinges of the model is proposed and analyzed.

The present work focuses on the two areas of investigation: system identification of helicopter and design of controller for the helicopter. Helicopter system identification, the first subject of investigation in this thesis, can be described as the extraction of system characteristics/dynamics from measured flight test data. Wind tunnel experimental data suffers from scale effects and model deficiencies. The increasing need for accurate models for the design of high bandwidth control system for helicopters has initiated a renewed interest in and a more active use of system identification. Besides, system identification is likely to become mandatory in the future for model validation of ground based helicopter simulators. Such simulators require accurate models in order to be accepted by pilots and regulatory authorities like Federal Aviation Regulation for realistic complementary helicopter mission training. Two approaches are widely used for system identification, namely, black box and gray box approach. In the black-box approach, the relationship between input-output data is approximated using nonparametric methods such as neural networks and in such a case, internal details of the system and model structure may not be known. In the gray box approach, parameters are estimated after defining the model structure. In this thesis, both black box and gray box approaches are investigated. In the black box approach, in this thesis, a comparative study and analysis of different Recurrent Neural Networks(RNN) for the identification of helicopter dynamics using flight data is investigated. Three different RNN architectures namely, Nonlinear Auto Regressive eXogenous input(NARX) model, neural network with internal memory known as Memory Neuron Networks(MNN)and Recurrent MultiLayer perceptron (RMLP) networks are used to identify dynamics of the helicopter at various flight conditions. Based on the results, the practical utility, advantages and limitations of the three models are critically appraised and it is found that the NARX model is most suitable for the identification of helicopter dynamics. In the gray box approach, helicopter model parameters are estimated after defining the model structure. The identification process becomes more difficult as the number of degrees-of-freedom and model parameters increase. To avoid the drawbacks of conventional methods, neural network based techniques, called the delta method is investigated in this thesis. This method does not require initial estimates of the parameters and the parameters can be directly extracted from the flight data. The Radial Basis Function Network(RBFN)is used for the purpose of estimation of parameters. It is shown that RBFN is able to satisfactorily estimate stability and control derivatives using the delta method. The second area of investigation addressed in this thesis is the control of helicopter in flight. Helicopter requires use of a control system to achieve satisfactory flight. Designing a classical controller involves developing a nonlinear model of the helicopter and extracting linearized state space matrices from the nonlinear model at various flight conditions. After examining the stability characteristics of the helicopter, the desired response is obtained using a feedback control system. The scheduling of controller gains over the entire envelope is used to obtain the desired response. In the present work, a helicopter having a soft inplane four bladed hingeless main rotor and a four-bladed tail rotor with conventional mechanical controls is considered. For this helicopter, a mathematical model and also a model based on neural network (using flight data) has been developed. As a precursor, a feed back controller, the Stability Augmentation System(SAS), is designed using linear quadratic regulator control with full state feedback and LQR with out put feedback approaches. SAS is designed to meet the handling qualities specification known as Aeronautical Design Standard ADS-33E-PRF. The control gains have been tuned with respect to forward speed and gain scheduling has been arrived at. The SAS in the longitudinal axis meets the requirement of the Level1 handling quality specifications in hover and low speed as well as for forward speed flight conditions. The SAS in the lateral axis meets the requirement of the Level2 handling quality specifications in both hover and low speed as well as for forward speed flight conditions. Such conventional design of control has served useful purposes, however, it requires considerable flight testing which is time consuming, to demonstrate and tune these control law gains. In modern helicopters, the stringent requirements and non-linear maneuvers make the controller design further complicated. Hence, new design tools have to be explored to control such helicopters. Among the many approaches in adaptive control, neural networks present a potential alternative for modeling and control of nonlinear dynamical systems due to their approximating capabilities and inherent adaptive features. Furthermore, from a practical perspective, the massive parallelism and fast adaptability of neural network implementations provide more incentive for further investigation in problems involving dynamical systems with unknown non-linearity. Therefore, adaptive control approach based on neural networks is proposed in this thesis. A neural network based Feedback Error Neural adaptive Controller(FENC) is designed for a helicopter. The proposed controller scheme is based on feedback error learning strategy in which the outer loop neural controller enhances the inner loop conventional controller by compensating for unknown non-linearity and parameter un-certainties. Nonlinear Auto Regressive eXogenous input(NARX)neural network architecture is used to approximate the control law and the controller network parameters are adapted using updated rules Lyapunov synthesis. An offline (finite time interval)and on-line adaptation strategy is used to approximate system uncertainties. The results are validated using simulation studies on helicopter undergoing an agile maneuver. The study shows that the neuro-controller meets the requirements of ADS-33 handling quality specifications. Even though the tracking error is less in FENC scheme, the control effort required to follow the command is very high. To overcome these problems, a Direct Adaptive Neural Control(DANC)scheme to track the rate command signal is presented. The neural controller is designed to track rate command signal generated using the reference model. For the simulation study, a linearized helicopter model at different straight and level flight conditions is considered. A neural network with a linear filter architecture trained using back propagation through time is used to approximate the control law. The controller network parameters are adapted using updated rules Lyapunov synthesis. The off-line trained (for finite time interval)network provides the necessary stability and tracking performance. The on-line learning is used to adapt the network under varying flight conditions. The on-line learning ability is demonstrated through parameter uncertainties. The performance of the proposed direct adaptive neural controller is compared with feedback error learning neural controller. The performance of the controller has been validated at various flight conditions. The theoretical results are validated using simulation studies based on a nonlinear six degree-of-freedom helicopter undergoing an agile maneuver. Realistic gust and sensor noise are added to the system to study the disturbance rejection properties of the neural controllers. To investigate the on-line learning ability of the proposed neural controller, different fault scenarios representing large model error and control surface loss are considered. The performances of the proposed DANC scheme is compared with the FENC scheme. The study shows that the neuro-controller meets the requirements of ADS-33 handling quality specifications.

La variété des concepts d’aéronef à voilure tournante n’a d’égal que l’étendue de leur champ applicatif. Une question essentielle se pose alors : quel concept est le plus adapté face à un certain nombre de missions et de spécifications ? Pour y répondre il faut pouvoir évaluer les performances de vol et les impacts environnementaux de ces appareils. Le projet de recherche fédérateur C.R.E.A.T.I.O.N. pour « Concepts of Rotorcraft Enhanced Assessment Through Integrated Optimization Network » a pour but de mettre en place une plateforme numérique de calculs multidisciplinaires et multiniveaux de modélisation capable d’évaluer de tels critères. La multidisciplinarité fait écho aux différentes disciplines associées à l’évaluation des giravions tandis que l’aspect multi-niveaux de modélisation reflète la possibilité d’étudier un concept quelque soit l’état des connaissances sur ce dernier. La thèse s’inscrit dans ce projet. Une première implication est le développement de modèles de performances de vol et leur intégration dans des boucles de calculs multidisciplinaires. Au-delà de cet aspect de modélisation physique, la multidisciplinarité touche aussi le champ des mathématiques appliquées. Les méthodes d’optimisation multi objectifs multi paramètres, l’aide à la décision pour la sélection d’un optimum de meilleur compromis, l’exploration de bases de données, la création de modèles réduits sont autant de thématiques explorées dans cette thèse. / On the one hand the diversity of rotorcraft concepts is very rich, on the other hand the extent of their applications is very wide. Then a key question is raising: What is the most suitable concept facing a number of missions and specifications ? For answering, models and methods are required for predicting and evaluating the flight performances and environmental impact of rotorcraft. The project «Concepts of Rotorcraft Enhanced Assessment Through Integrated Optimization Network» (C.R.E.A.T.I.O.N.) aims at developing a multi-disciplinary and multi-level modelling calculation chain. The multi-disciplinary feature comes from the involvement of different disciplines in rotorcraft design. The multi modelling levels are defined to allow the evaluation of any rotorcraft concept whatever the level of details available in the description data. The present thesis is part of this project. First steps are the implementation of statistical models able to initialize the rotorcraft presizing from some specifications, the development of an analytical code that evaluates flight performances and its integration into the multidisciplinary calculation chain. A preliminary design conception chain using multidisciplinary optimization is setup and applied to a practical case showing its efficiency as presizing methodology. For this purpose multi-objectives exploration algorithms and decision aid methods to select a best compromise solution are also studied. The exploration of databases and creating response surface models are other themes explored in this thesis.

Carefree handling refers to the ability of a pilot to operate an aircraft without the need to continuously monitor aircraft operating limits. At the heart of all carefree handling or maneuvering systems, also referred to as envelope protection systems, are algorithms and methods for predicting future limit violations. Recently, envelope protection methods that have gained more acceptance, translate limit proximity information to its equivalent in the control channel. Envelope protection algorithms either use very small prediction horizon or are static methods with no capability to adapt to changes in system configurations. Adaptive approaches maximizing prediction horizon such as dynamic trim, are only applicable to steady-state-response critical limit parameters. In this thesis, a new adaptive envelope protection method is developed that is applicable to steady-state and transient response critical limit parameters. The approach is based upon devising the most aggressive optimal control profile to the limit boundary and using it to compute control limits. Pilot-in-the-loop evaluations of the proposed approach are conducted at the Georgia Tech Carefree Maneuver lab for transient longitudinal hub moment limit protection. Carefree maneuvering is the dual of carefree handling in the realm of autonomous Uninhabited Aerial Vehicles (UAVs). Designing a flight control system to fully and effectively utilize the operational flight envelope is very difficult. With the increasing role and demands for extreme maneuverability there is a need for developing envelope protection methods for autonomous UAVs. In this thesis, a full-authority automatic envelope protection method is proposed for limit protection in UAVs. The approach uses adaptive estimate of limit parameter dynamics and finite-time horizon predictions to detect impending limit boundary violations. Limit violations are prevented by treating the limit boundary as an obstacle and by correcting nominal control/command inputs to track a limit parameter safe-response profile near the limit boundary. The method is evaluated using software-in-the-loop and flight evaluations on the Georgia Tech unmanned rotorcraft platform- GTMax. The thesis also develops and evaluates an extension for calculating control margins based on restricting limit parameter response aggressiveness near the limit boundary.

The atmospheric boundary layer (ABL) is the layer of air directly influenced by the Earth’s surface and is the layer of the atmosphere most important to humans as this is the air we live in. Methods for measuring the properties of the ABL include three general approaches: satellite-based, ground- based and airborne. A major research challenge is that many contemporary methods provide a restricted spatial resolution or coverage of variations of ABL properties such as how wind speed varies across a landscape with complex topography. To enhance our capacity to measure the properties of the ABL, this thesis presents a new technique that involves a small unmanned aircraft system (sUAS) equipped with a customized payload for measuring wind speed and particulate matter. The research presented herein outlines two key phases in establishing the proof-of-concept of the payload and its integration on the sUAS: (1) design and testing and (2) field demonstration. The first project focuses on measuring wind speed, which has been measured with fixed wing sUASs in previous research, but not with a helicopter sUAS. The second project focuses on the measurement of particulate matter, which is a major air pollutant typically measured with ground- based sensors. Results from both proof-of-concept projects suggest that ABL research could benefit from the proposed techniques.

This research investigates on-blade partial span active plain trailing edge flaps (TEFs)with an aim to alleviate the helicopter vibrations. Among all the available smart materials, piezoelectric stack actuator(PEA)has shown its strong candidature for full scale rotor systems. Although, PEAs are quite robust in operation, however, they exhibit rate dependent hysteresis phenomenon and can generate only very small displacements. Dynamic hysteresis is a complex phenomenon which, if not modeled, can lead to drift in the vibration predictions. In this research, a comprehensive experimental analysis is performed on a commercially available piezostack actuator, APA-500L, which is well suited for full scale applications. Rate dependent hysteresis loops are obtained for helicopter operational frequencies. Nonlinear rate-dependent hysteresis loops are modeled using conic section approach and the results are validated with experimental data. Dynamic hysteresis exhibited by the PEA is further cascaded with the helicopter aeroelastic analysis and its effect on helicopter vibration predictions is investigated. PEAs generate high force but are limited by small translational motions. A linear to rotary motion amplification mechanism is required to actuate the TEF for vibration alleviation. A smart flap is designed and developed using computer-aided-design models. A rotor blade test section is fabricated and a lever-fulcrum mechanism (AM-1) is developed for a feasibility study. Smart flap actuation is demonstrated on the rotor blade test section. The conventional motion amplification devices contain several linkages, which are potential sites for structural failure. A novel pinned-pinned post-buckled beam linear-to-rotary motion amplifier (AM-2) is designed and developed to actuate the flaps. A new design of linear-to-linear amplification mechanism (LX-4) is developed and is employed in conjunction with AM-2 to increase the flap angles by an order of magnitude. An analytical model is developed using Mathieu-Hill type differential equations. Static and dynamic tests are conducted on a scaled flap model. Helicopter aeroelastic simulations show substantial reduction in hub loads using AM-2 mechanism. To further enhance the flap angles, an optimization study is performed and optimal beam dimensions are obtained. A new technique is also proposed to actively bias the flaps for both upward and downward motion. Critical flap design parameters, such as flap span, flap chord and flap location influences the flap power requirement and vibration objective function significantly. A comprehensive parametric investigation is performed to obtain the best design of TEFs at various advance ratios. Although, parametric study equips the designer with vital information about various critical system parameters, however, it is a computationally expensive exercise especially when used with large comprehensive helicopter aero elastic codes. A formal optimization procedure is employed to obtain the optimal flap design and location. Surrogate models are developed using design of experiments based on response surface methodology. Two new orthogonal arrays are proposed to construct the second order polynomial response surfaces. Pareto analysis is employed in conjunction with a newly developed computationally efficient evolutionary multi-objective bat algorithm. Optimal flap design and flap locations for dual trailing edge flaps are obtained for mutually conflicting objectives of minimum vibration levels and minimum power requirement to actuate the flaps.

Text in English / Restricted files have not been uploaded / The thesis commences by elaborating on the concept of vertical envelopment as a form of military manoeuvre and defining airborne operations as comprising parachute, helicopter and air-landed actions. It goes on to describe strategy and tactics as they apply to the discussion before briefly tracing the development internationally of vertical envelopment and the thinking of the South African military about airborne operations during the Second World War. Events leading up to the decision by the South African military to acquire helicopters and to train paratroopers in 1960 are examined and the early operational employment of helicopters is analysed. The establishment of 1 Parachute Battalion is discussed in the light of the absence of a clear understanding of how it should be employed. Moving on to the commencement of the conflict known as the Southern African Thirty Year War, the issue of strategic versus tactical application of an airborne capability during operations in Namibia, Angola and Rhodesia is defined. Strategic application is then illustrated by specific independent airborne strikes, and the requirement for an airborne brigade to plan and conduct such operations is highlighted. The establishment of 44 Parachute Brigade and the difficulties experienced in its development are reviewed before scrutinising the tactical use of airborne forces in support of other ground forces. The high point in organisation and capability of the airborne forces of the South African Defence Force at the time of the ending of the Thirty Year War is appraised and the unfulfilled potential of the capability is elucidated. Faced with change and uncertainty, the employment of the paratroopers in urban operations during the height of the civil unrest is examined. This is followed by probing the response of the paratrooper organisation to severe budget cuts, enforced reorganisation and relocation, the ending of conscription and integration into the new South African National Defence Force following the country’s first democratic elections in 1994. The thesis concludes with an evaluation of the airborne actions during the incursion by South Africa into Lesotho in 1998 and an assessment of the implications of the loss of a strategic airborne capability. / History / D. Litt. et Phil. (History)

The thesis will discuss the Systems Engineering phase of an original Conceptual Design Engineering Methodology for Aerospace Engineering-Vehicle Synthesis. This iterative phase is shown to benefit from digitization of Integrated Product&Process Design (IPPD) activities, through the application of Product Lifecycle Management (PLM) technologies. Requirements analysis through the use of Quality Function Deployment (QFD) and 7 MaP tools is explored as an illustration. A "Requirements Data Manager" (RDM) is used to show the ability to reduce the time and cost to design for both new and legacy/derivative designs. Here the COTS tool Teamcenter Systems Engineering (TCSE) is used as the RDM. The utility of the new methodology is explored through consideration of a legacy RFP based vehicle design proposal and associated aerospace engineering. The 2001 American Helicopter Society (AHS) 18th Student Design Competition RFP is considered as a starting point for the Systems Engineering phase. A Conceptual Design Engineering activity was conducted in 2000/2001 by Graduate students (including the author) in Rotorcraft Engineering at the Daniel Guggenheim School of Aerospace Engineering at the Georgia Institute of Technology, Atlanta GA. This resulted in the "Kingfisher" vehicle design, an advanced search and rescue rotorcraft capable of performing the "Perfect Storm" mission, from the movie of the same name. The associated requirements, architectures, and work breakdown structure data sets for the Kingfisher are used to relate the capabilities of the proposed Integrated Digital Environment (IDE). The IDE is discussed as a repository for legacy knowledge capture, management, and design template creation. A primary thesis theme is to promote the automation of the up-front conceptual definition of complex systems, specifically aerospace vehicles, while anticipating downstream preliminary and full spectrum lifecycle design activities. The thesis forms a basis for additional discussions of PLM tool integration across the engineering, manufacturing, MRO and EOL lifecycle phases to support business management processes.

Low Intensity Conflict (LIC) is a significant feature of the contemporary world and it is a particular challenge to the armed forces of many states which are involved is such conflict, or are likely to become so. This thesis is not concerned with how such difficult conflict situations arise. Rather it is concerned with how, from the point of view of the state, they may be contained and ultimately brought to a satisfactory resolution. The work is thus concerned with the practicalities of ending LIC. More specifically, the purpose of this research is to establish a framework of doctrinal and military principles applicable to the prevention and resolution of LIC. The principles of this thesis are based in numerous historical examples of LIC and six in depth case studies. These distilled principles are analysed in two central chapters, and are then applied in two latter defence force chapters so as to ensure there practicality and resilience. Numerous defence academics and military practitioners have been consulted in the production of this thesis; their contribution has further reinforced the functionality of the principles examined in this research. The research illustrates the criticality of a holistic approach to LIC. The function of this approach is to guarantee the stability of the sovereign state, by unifying civil, police, intelligence and military services. The effectiveness of the military elements must also be ensured, as military force is central to the suppression of LIC. Consequently, the research makes strategic and operational prescriptions, so as to improve the capability of defence forces that are concerned with preventing or resolving LIC.