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BackgroundExplore the contents of this article with a free Wolfram System Modeler trial. Today, many helicopters launch from and land on ships at sea. Some are conventional helicopters, both commercial and military, and some are drones. In Wolfram System Modeler, we now have a system for simulating helicopter landings and launches that includes waves and ships. The models have been used for the design of mechanical parts, autopilots, landing criteria, and operational limits.
Major components of the systemThe aim has been to develop a model with an accurate depiction of the waves, ship motion, and helicopters in such a way that the results can be used not only qualitatively but also quantitatively in real industrial applications. The first task is to calculate the motion of the landing platform mounted on the ship's deck. There is commercially available historical wave data for different seas and oceans. Since access to this data is expensive, we will instead describe the waves mathematically. A model of the forces on the ship's hull was developed with classical analytical theory. With the waves and ship hull forces, the motion of the ship's landing platform can be calculated. If we assume that the helicopter landing does not influence the landing platform motion, the system is simplified. We speed up the simulation by storing the motion in a database for the different wave heights, lengths, and directions, and the ship's speed. Typically the database will include wave heights of 1, 2, 3, and 4 m; wave directions 0, 30, 60, 90, 120, 150, and 180 degrees; wave lengths 100, 150, and 200 m; and ship speeds of 5 and 10 knots. The helicopter was modeled with the MultiBody library. It includes mechanical parts such as rotors with gyroscopic effects and landing gear with hydraulic dampers. Friction models for wheel-deck interface and flexible beams for the rotor blades have been developed. We have also developed a simple autopilot where the landing algorithm is implemented and tested. For one application, the model has been run with the actual autopilot as hardware in the loop.
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