Research on the Methods for Correcting Helicopter Position on Deck Using a Carrier Robot

Abstract

When the landing position of a shipborne helicopter on the deck does not meet the requirements for towing it into the hangar, its position must first be corrected before towing can proceed. This paper studied the methods for using Shipborne Rapid Carrier Robots (SRCRs) to correct helicopter positions on the deck and proposed two correction methods, the stepwise correction method and the continuous correction method, aiming to improve the efficiency of the position adjustment process. Firstly, the actual helicopter landing position deviation was divided into two components—lateral offset and fuselage yaw angle—to quantitatively assess the deviations. Then, a mathematical model of the SRCR traction system was established, and its traction motion characteristics were analyzed. The kinematic characteristics and control processes of the two proposed position correction methods were subsequently studied, revealing the coordinated control relationships between key control elements. Finally, simulations were conducted to validate the feasibility of the proposed correction methods and compare their efficiencies. The results indicated that both the stepwise and continuous correction methods effectively achieved the position correction objectives. The stepwise method was more efficient when the initial yaw angle was small, while the continuous method proved more efficient when the initial yaw angle was large and the lateral offset was minimal. The results of this study may provide a valuable reference for correcting the positions of helicopters on deck.