论文标题
可变的航空电缆牵引系统的设计和控制
Design and Control of a Variable Aerial Cable Towed System
论文作者
论文摘要
航空电缆牵引系统（使徒行传）由连接到电缆有效载荷连接的几辆无人机（UAV）组成。与单个飞机的拖曳物体相比，ACTS具有很大的优势，例如较重的有效载荷能力，模块化和对有效载荷姿势的完全控制。但是，它们通常很大，具有有限的几何限制能力，同时避免了无人机之间的碰撞。本文介绍了具有可变电缆长度的新型动作的建模，性能分析，设计和提议的控制器，命名为可变的航空电缆牵引系统（VACTS）。WINCHES嵌入了无人机上，以操纵与电缆驱动的平行机器人相似，以提高该行动的多功能性。得出了VACT的一般几何，运动学和动态模型，然后开发集中反馈线性化控制器。该设计基于对VACTS的扳手分析，而无需像当前的作品那样将电缆通过UAV质量中心。此外，比较了VACT和ACT的性能，表明附加的多功能性是以有效负载和配置灵活性为本的。原型确认了系统的可行性。
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier payload capacity, modularity, and full control of the payload pose. They are however generally large with limited ability to meet geometric constraints while avoiding collisions between UAVs. This paper presents the modelling, performance analysis, design, and a proposed controller for a novel ACTS with variable cable lengths, named Variable Aerial Cable Towed System (VACTS).Winches are embedded on the UAVs for actuating the cable lengths similar to a Cable-Driven Parallel Robot to increase the versatility of the ACTS. The general geometric, kinematic and dynamic models of the VACTS are derived, followed by the development of a centralized feedback linearization controller. The design is based on a wrench analysis of the VACTS, without constraining the cables to pass through the UAV center of mass, as in current works. Additionally, the performance of the VACTS and ACTS are compared showing that the added versatility comes at the cost of payload and configuration flexibility. A prototype confirms the feasibility of the system.
