Control method of intelligent fuzzy retractable system for tethered cable of UAV

Abstract

The invention provides an unmanned aerial vehicle mooring cable intelligent fuzzy collecting and releasing system. The system comprises a driving and control circuit module, an unmanned aerial vehicleflight control communication module connected with the driving and control circuit module, a pressure sensing module used for collecting real-time tension on a mooring cable of the unmanned aerial vehicle, a take-up and pay-off coil, a transverse stepping motor, a take-up and pay-off synchronous motor, an electronic clutch, an angle sensor, a one-way rotating shaft and an electronic damper used for preventing the cable disorder state of the cable due to the inertia rotation of the pay-off coil in the paying-off process. According to the system, a fuzzy control technology and a corresponding electromechanical hybrid system are adopted, and the intelligent take-up and pay-off cable of the mooring unmanned aerial vehicle is divided into two parts, namely an intelligent paying-off cable and an intelligent take-up cable, and the various uncertain flight attitude conditions can be brought to the multi-rotor unmanned aerial vehicle under a harsh environment and environment changes, the intelligent take-up and pay-off control of the cable is realized stable.

Description

technical field [0001] The invention relates to a technology in the field of aircraft control, in particular to an intelligent fuzzy retractable system for tethered cables of an unmanned aerial vehicle. Background technique [0002] Tethered drones are mostly used to use ground power to continuously provide power to high-altitude drones through cables, so as to achieve long-term stay 24 hours a day. Due to the addition of tethered cables, it will cause additional impact on the UAV system, making the UAV that is already dependent on environmental factors more unstable. The existing tethered UAV automatic take-up and release system is to track the take-up and take-off line according to the height information given by the flight controller to achieve automatic control. This control method cannot adapt to the harsh environment. Due to the response delay of the CPU and the transmission device, it cannot quickly and completely respond to the change of the cable during the automat...

AI Technical Summary

Problems solved by technology

This control method cannot adapt to the harsh environment. Due to the response delay of the CPU and the transmission device, it cannot quickly and completely respond to the change of the cable during the automatic control process, which leads to the constant or intermittent receiving of the UAV. To the dragging of the tethered cable, more serious will cause the UAV to lose control of its flight attitude and fall

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