Dynamic Modeling and Simulation of a Remote-Controlled Helicopter With a Suspended Load

A planar helicopter testbed has been constructed to study the dynamic effects of loads suspended below the helicopter by cables. A dynamic model of the helicopter-load system is presented, as well as a procedure to estimate the unknown model parameters. The simulated helicopter is controlled by a virtual pilot with attributes that are scaled to match the model helicopter’s fast dynamics. Initial simulations show that the presence of a heavy load makes it difficult to maintain a steady hover position after a horizontal movement.