Cable winding and unwinding system

Abstract

The invention discloses a cable take-up and pay-off system, relates to the technical field of mooring unmanned aerial vehicle accessories, and is mainly used for cable arrangement and torque control of mooring cables of a mooring unmanned aerial vehicle. By the adoption of the system, arrangement regularity of the mooring cables can be guaranteed, the risk that the mooring cables are broken due to cable clamping is avoided, and meanwhile the adaptability and stability of the mooring unmanned aerial vehicle system in different environments are improved.

Description

Technical Field

[0001] This invention relates to the field of tethered unmanned aerial vehicle (UAV) accessories technology, and in particular to a cable retraction system. Background Technology

[0002] Currently, tethered drones are primarily controlled by a tether cable control box, which comprises a cable storage roller, a cable delivery device, and a control motor. The cable storage roller and cable delivery device are connected by a customized mechanical structure with a fixed transmission ratio, and a corresponding program is written based on this fixed transmission ratio. Secondly, the torque of the tether cable control box is a fixed value, and each drone mode has a corresponding torque. For example, in hovering mode, the tether cable control box sets the torque to a constant value.

[0003] As can be seen, in existing technologies, the cable control box has only one motor connected to the cable storage drum, while the cable laying device is connected to the cable storage drum via a mechanical structure. The structures of both the cable storage drum and the cable laying device are fixed in the design, leaving no room for later adjustments. However, certain errors can occur during the manufacturing of various mechanical structures, and coupled with the wear and tear of components over time, this can lead to increasingly uneven cable laying, and even the risk of cable jamming or breakage.

[0004] Meanwhile, if the torque value of the cable control box remains constant, it may cause the drone cable to be dragged too long by the wind or cause the drone to crash due to excessive torque. Summary of the Invention

[0005] In view of the above problems, the present invention provides a cable winding and unwinding system for overcoming or at least partially solving the above problems.

[0006] This invention provides the following solution:

[0007] A cable retraction system, comprising:

[0008] A cable storage motor, wherein the output shaft of the cable storage motor is connected to the cable storage drum;

[0009] A cable laying motor, wherein the output shaft of the cable laying motor is connected to a cable laying screw, and the cable laying screw is connected to a cable laying device.

[0010] A tension detection component, wherein the tension detection component is used to obtain the tension value of the cable tension;

[0011] A pressure detection component, wherein the pressure detection component is used to acquire the pressure value of the cable pressure;

[0012] The controller is communicatively connected to the cable storage motor, the cable laying motor, the tension detection component, and the pressure detection component;

[0013] The controller is used to perform the following operations:

[0014] The current tension value obtained by the tension detection component and the preset ideal tension value in the current mode are obtained.

[0015] The tension difference and the rate of change of the tension difference are calculated using the ideal tension value and the current tension value.

[0016] The parameters of the adjusted cable storage motor's PID are obtained by using the tension difference and the rate of change of the tension difference through fuzzy PID algorithm. The parameters of the adjusted cable storage motor's PID and the tension difference are then input into the PID control system, so that the PID control system outputs the desired torque of the cable storage motor.

[0017] The pressure detection component acquires the current pressure value and the preset normal pressure value.

[0018] The pressure difference and the rate of change of the pressure difference are calculated using the normal pressure value and the current pressure value.

[0019] The parameters of the adjusted cable laying motor's PID are obtained by using the pressure difference and the rate of change of the pressure difference through fuzzy PID algorithm. The adjusted PID parameters of the cable laying motor and the pressure difference are then input into the PID control system, so that the PID control system outputs the desired speed of the cable laying motor.

[0020] Preferably, the tension detection assembly includes a roller and a first pressure sensor connected in a mating manner, the first pressure sensor being used to detect the tension value of the cable tension.

[0021] Preferably, the pressure detection component includes a second pressure sensor, which is connected to the cable routing device and is used to detect the pressure value of the cable.

[0022] Preferably, the parameters of the adjusted cable storage motor's PID are obtained by using a fuzzy PID algorithm for inference, including:

[0023] After fuzzifying the tension difference and the rate of change of tension difference, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and rate of change of deviation. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted parameters of the PID of the cable storage motor.

[0024] Preferably, the parameters of the adjusted cable storage motor's PID are obtained by using a fuzzy PID algorithm for inference, including:

[0025] After fuzzifying the pressure difference value and the rate of change of pressure difference, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and deviation rate of change. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted PID parameters of the cable laying motor.

[0026] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0027] This application provides a cable deployment and take-up system, mainly used for tethering cables for tethered drones and controlling the torque. This system ensures the neatness of the tethered cables, avoids the risk of cable breakage due to jamming, and improves the adaptability and stability of the tethered drone system in different environments.

[0028] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0030] Figure 1 This is a schematic diagram of a cable winding and unwinding system provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the cable routing control method provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the cable tension control method provided in an embodiment of the present invention.

[0033] In the diagram: 1. Cable storage motor; 2. Cable storage drum; 3. Cable feeding motor; 4. Cable feeding screw; 5. Cable feeding device; 6. Tension detection component; 7. Pressure detection component; 8. Roller; 9. Cable discharge device; 10. Cable. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0035] See Figure 1 This invention provides a cable retraction system, such as... Figure 1 As shown, the system may include:

[0036] Cable storage motor 1, the output shaft of which is connected to cable storage drum 2;

[0037] A cable laying motor 3, the output shaft of which is connected to a cable laying screw 4, and a cable laying device 5 is connected to the cable laying screw 4.

[0038] Tension detection component 6, which is used to obtain the tension value of cable 10;

[0039] Pressure detection component 7, which is used to obtain the pressure value of cable 10;

[0040] The controller is communicatively connected to the cable storage motor 1, the cable laying motor 3, the tension detection component 6, and the pressure detection component 7.

[0041] The controller is used to perform the following operations:

[0042] The current tension value obtained by the tension detection component 6 and the preset ideal tension value in the current mode are obtained.

[0043] The tension difference and the rate of change of the tension difference are calculated using the ideal tension value and the current tension value.

[0044] The parameters of the adjusted cable storage motor 1's PID are obtained by using the tension difference and the rate of change of the tension difference through fuzzy PID algorithm. The parameters of the adjusted cable storage motor 1's PID and the tension difference are then input into the PID control system, so that the PID control system outputs the desired torque of the cable storage motor 1.

[0045] The pressure detection component 7 acquires the current pressure value and the preset normal pressure value.

[0046] The pressure difference and the rate of change of the pressure difference are calculated using the normal pressure value and the current pressure value.

[0047] The parameters of the adjusted cable laying motor 3's PID are obtained by using the pressure difference value and the pressure difference change rate through fuzzy PID algorithm. The adjusted PID parameters of the cable laying motor 3 and the pressure difference value are then input into the PID control system, so that the PID control system outputs the desired speed of the cable laying motor 3.

[0048] The cable deployment system provided in this application embodiment features separate control of the cable storage bin and the cable arrangement device 5. The cable storage motor 1 uses torque control, while the cable arrangement device 5 uses speed control. The cable storage motor 1 uses a fuzzy PID algorithm to control the torque of the tethered cable, ensuring the safety of the drone. The cable arrangement device 5 uses a fuzzy PID algorithm to control its movement, ensuring the tethered cable is neatly arranged on the cable storage bin. This application ensures the neat arrangement of the tethered cable and avoids cable jamming that could overload the system.

[0049] In a specific implementation, the tension detection component 6 may include a roller 8 and a first pressure sensor connected in cooperation, wherein the first pressure sensor is used to detect the tension value of the cable tension.

[0050] The pressure detection component 7 includes a second pressure sensor, which is connected to the cable routing device 5. The second pressure sensor is used to detect the pressure value of the cable.

[0051] The parameters of the adjusted PID of the cable storage motor 1, obtained by reasoning using the fuzzy PID algorithm, include:

[0052] After fuzzifying the tension difference and the rate of change of tension difference, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and rate of change of deviation. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted PID parameters of the cable storage motor 1.

[0053] The parameters of the adjusted PID of the cable storage motor 1, obtained by reasoning using the fuzzy PID algorithm, include:

[0054] After fuzzifying the pressure difference value and the pressure difference change rate, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and deviation change rate. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted PID parameters of the cable laying motor 3.

[0055] The cable winding and unwinding system provided in the embodiments of this application will be described in detail below.

[0056] The system may include a cable storage motor 1, a cable storage drum 2, a cable feeding motor 3, a cable feeding screw 4, a cable feeding device 5, a tension detection component (first pressure sensor) 6, a pressure detection component (second pressure sensor) 7, a drum 8, a cable discharging device 9, and a cable 10.

[0057] Fuzzy PID combines the advantages of traditional PID and fuzzy control. Traditional PID selects a suitable set of proportional parameters Kp, integral parameters Ki, and derivative parameters Kd through parameter tuning, while fuzzy PID mainly adjusts the PID parameters (proportional parameters Kp, integral parameters Ki, and derivative parameters Kd) through fuzzy inference. Compared with traditional PID, fuzzy PID enables cable take-up and take-down control systems to better adapt to various complex environments.

[0058] Cable routing control: To ensure neater cable arrangement on the cable storage drum 2, the cable routing device 5 driven by the cable routing motor 3 must be synchronized with the cable storage drum 2. If the cable routing device 5 is ahead or behind, it will cause uneven cable routing, cable jamming, and other problems. To avoid these adverse consequences, a first pressure sensor is added to the cable routing device 5 to detect whether the cable is misaligned. Figure 2 , Figure 3 As shown, when the cable laying device 5 and the cable storage drum 2 are synchronized, the cables are parallel. The value of the first pressure sensor fluctuates normally within a certain range. The normal pressure value is denoted as P, the current value is P1, the pressure difference Ep = P - P1, and the pressure difference change rate ΔP. After fuzzifying Ep and ΔP, the fuzzy inference system performs approximate inference to obtain the correction values ​​ΔKp, ΔKi, and ΔKd of Kp, Ki, and Kd under certain deviations and deviation change rates. The latest Kp = Kp + ΔKp, Ki = Ki + ΔKi, and Kd = Kd + ΔKd are obtained. The error Ep and the latest Kp, Ki, and Kd are then input into the PID control system, and the final output is the desired speed of the motor of the cable laying device 5.

[0059] Currently, most tethered drones use a fixed torque for cable tension control. For example, a smaller fixed torque is used during takeoff, and a more moderate fixed torque is used during hovering. These torque values ​​are empirical values ​​obtained from numerous experiments and can handle most operating conditions for tethered drones. However, in certain conditions, such as strong winds, a fixed torque will significantly reduce the tension of the tethered cable, causing it to become excessively long in the air and sway with the wind, potentially leading to a crash. Therefore, this application uses fuzzy PID dynamic control to regulate the tethered cable tension, with a second pressure sensor detecting the cable tension in real time. An ideal tension T is set for each mode. The current tension is T1, the tension difference is Et = T - T1, and the rate of change of the tension difference is ΔT. After fuzzifying Et and ΔT, the fuzzy inference system performs approximate inference to obtain the correction values ​​ΔKp, ΔKi, and ΔKd of Kp, Ki, and Kd under certain deviations and deviation change rates. The latest Kp = Kp + ΔKp, Ki = Ki + ΔKi, and Kd = Kd + ΔKd are then obtained. The error Et and the latest Kp, Ki, and Kd are input into the PID control system, and the final output is the desired torque of the cable storage motor 1.

[0060] In summary, the cable deployment and retraction system provided in this application is mainly used for cable arrangement and torque control of tethered drones. This system ensures the neatness of the tethered cable arrangement, avoids the risk of cable breakage due to jamming, and improves the adaptability and stability of the tethered drone system in different environments.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0062] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0063] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A cable retraction system, characterized in that, include: A cable storage motor, wherein the output shaft of the cable storage motor is connected to the cable storage drum; A cable laying motor, wherein the output shaft of the cable laying motor is connected to a cable laying screw, and the cable laying screw is connected to a cable laying device. A tension detection component, wherein the tension detection component is used to obtain the tension value of the cable tension; A pressure detection component, wherein the pressure detection component is used to acquire the pressure value of the cable pressure; The controller is communicatively connected to the cable storage motor, the cable laying motor, the tension detection component, and the pressure detection component; The controller is used to perform the following operations: The current tension value obtained by the tension detection component and the preset ideal tension value in the current mode are obtained. The tension difference and the rate of change of the tension difference are calculated using the ideal tension value and the current tension value. The parameters of the adjusted cable storage motor's PID are obtained by using the tension difference and the rate of change of the tension difference through fuzzy PID algorithm. The parameters of the adjusted cable storage motor's PID and the tension difference are then input into the PID control system, so that the PID control system outputs the desired torque of the cable storage motor. The pressure detection component acquires the current pressure value and the preset normal pressure value. The pressure difference and the rate of change of the pressure difference are calculated using the normal pressure value and the current pressure value. The parameters of the adjusted cable laying motor's PID are obtained by using the pressure difference and the rate of change of the pressure difference through fuzzy PID algorithm. The adjusted PID parameters of the cable laying motor and the pressure difference are then input into the PID control system, so that the PID control system outputs the desired speed of the cable laying motor.

2. The cable retraction system according to claim 1, characterized in that, The tension detection assembly includes a roller and a first pressure sensor connected in conjunction, the first pressure sensor being used to detect the tension value of the cable tension.

3. The cable retraction system according to claim 1, characterized in that, The pressure detection component includes a second pressure sensor, which is connected to the cable routing device and is used to detect the pressure value of the cable.

4. The cable winding and unwinding system according to claim 1, characterized in that, The parameters of the adjusted PID of the cable storage motor are obtained by reasoning using the fuzzy PID algorithm, including: After fuzzifying the tension difference and the rate of change of tension difference, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and rate of change of deviation. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted parameters of the PID of the cable storage motor.

5. The cable retraction system according to claim 1, characterized in that, The parameters of the adjusted PID of the cable storage motor are obtained by reasoning using the fuzzy PID algorithm, including: After fuzzifying the pressure difference value and the rate of change of pressure difference, the fuzzy inference system performs approximate inference to obtain the correction values ​​of the proportional parameter, integral parameter, and derivative parameter under the conditions of target deviation and deviation rate of change. The preset proportional parameter, integral parameter, and derivative parameter are updated by the correction values ​​of the proportional parameter, integral parameter, and derivative parameter to obtain the adjusted PID parameters of the cable laying motor.

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