On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid
The motion of a copter with a suspended payload in a vertical plane is considered. The payload has a spherical shape and contains a concentric spherical cavity partially filled with ideal liquid. The system is subjected to horizontal stationary wind. The aerodynamic load on the payload is described...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Aerospace |
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| Online Access: | https://www.mdpi.com/2226-4310/12/5/408 |
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| author | Yury Selyutskiy Marat Dosaev Boris Lokshin Gusztáv Fekete |
| author_facet | Yury Selyutskiy Marat Dosaev Boris Lokshin Gusztáv Fekete |
| author_sort | Yury Selyutskiy |
| collection | DOAJ |
| description | The motion of a copter with a suspended payload in a vertical plane is considered. The payload has a spherical shape and contains a concentric spherical cavity partially filled with ideal liquid. The system is subjected to horizontal stationary wind. The aerodynamic load on the payload is described within the framework of a quasi-steady approach. The dynamics of the liquid are simulated using the phenomenological pendulum model. The points of this study are the controllability and observability of a stationary flight of a copter with the payload. A control strategy is proposed, which aims to bring the system from a certain initial state to a certain final state, such that the center of mass of the copter moves along a given sufficiently smooth curve. The control is designed to ensure the suppression of oscillations of the payload and the liquid along the entire trajectory. |
| format | Article |
| id | doaj-art-2a12a7a4cf75403ba4a7792bb38f2b02 |
| institution | DOAJ |
| issn | 2226-4310 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Aerospace |
| spelling | doaj-art-2a12a7a4cf75403ba4a7792bb38f2b022025-08-20T03:14:43ZengMDPI AGAerospace2226-43102025-05-0112540810.3390/aerospace12050408On Dynamics of a Copter-Slung Spherical Payload Partially Filled with LiquidYury Selyutskiy0Marat Dosaev1Boris Lokshin2Gusztáv Fekete3Institute of Mechanics, Lomonosov Moscow State University, Michurinskii prosp. 1, 119192 Moscow, RussiaInstitute of Mechanics, Lomonosov Moscow State University, Michurinskii prosp. 1, 119192 Moscow, RussiaInstitute of Mechanics, Lomonosov Moscow State University, Michurinskii prosp. 1, 119192 Moscow, RussiaDepartment of Material Science and Technology, Audi Hungaria Faculty of Vehicle Engineering, H-9026 Győr, HungaryThe motion of a copter with a suspended payload in a vertical plane is considered. The payload has a spherical shape and contains a concentric spherical cavity partially filled with ideal liquid. The system is subjected to horizontal stationary wind. The aerodynamic load on the payload is described within the framework of a quasi-steady approach. The dynamics of the liquid are simulated using the phenomenological pendulum model. The points of this study are the controllability and observability of a stationary flight of a copter with the payload. A control strategy is proposed, which aims to bring the system from a certain initial state to a certain final state, such that the center of mass of the copter moves along a given sufficiently smooth curve. The control is designed to ensure the suppression of oscillations of the payload and the liquid along the entire trajectory.https://www.mdpi.com/2226-4310/12/5/408copterslung loadliquid fillingdynamicscontrol |
| spellingShingle | Yury Selyutskiy Marat Dosaev Boris Lokshin Gusztáv Fekete On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid Aerospace copter slung load liquid filling dynamics control |
| title | On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid |
| title_full | On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid |
| title_fullStr | On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid |
| title_full_unstemmed | On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid |
| title_short | On Dynamics of a Copter-Slung Spherical Payload Partially Filled with Liquid |
| title_sort | on dynamics of a copter slung spherical payload partially filled with liquid |
| topic | copter slung load liquid filling dynamics control |
| url | https://www.mdpi.com/2226-4310/12/5/408 |
| work_keys_str_mv | AT yuryselyutskiy ondynamicsofacopterslungsphericalpayloadpartiallyfilledwithliquid AT maratdosaev ondynamicsofacopterslungsphericalpayloadpartiallyfilledwithliquid AT borislokshin ondynamicsofacopterslungsphericalpayloadpartiallyfilledwithliquid AT gusztavfekete ondynamicsofacopterslungsphericalpayloadpartiallyfilledwithliquid |