Tethered Drone Automatic Take-up And Release System

The tethered drone is a special type of drone that uses tethered power and cable supply to significantly increase its endurance for executing long-duration tasks.Within the entire system,the automatic tethering system of the tethered drone is an important component that ensures its normal operation.The automatic tethering system needs to follow the movement of the tethered drone to retract and extend the tethering cable,therefore,the precision of the automatic tethering system is a challenging research problem.The tension control of the tethering cable is related to the safe operation of the tethered drone.This thesis conducts in-depth research on the tethered drone based on its operational requirements and designs and studies the automatic tethering system.In order to solve the precision problem of the tethering cable,a crescent-shaped reciprocating screw is used in the three-dimensional model of the automatic tethering system to solve the reciprocating motion problem of the tethering cable arrangement,and to keep the cable motor turning in one direction to improve the precision.In terms of control method,this thesis does not use the traditional constant tension control method.Based on the constant tension control,the tethered drone provides current speed information to the automatic tethering system via data transmission.By solving the fuzzy PID,the current retraction and extension speed of the automatic tethering system is obtained.During movement,the tension sensor detects the tension size,and the photoelectric encoder detects the rotational speed.These two pieces of information are used for closed-loop control,which provides control precision for the automatic tethering system.This thesis analyzes the functions of the automatic tethering device and manufactures the automatic tethering system,using the fuzzy PID control method,with tension detection feedback and photoelectric encoder detection feedback in a closed-loop control.A Simulink simulation model is established to verify the feasibility of the system,and a physical comparison experiment is conducted to verify the operation of the automatic tethering system.The results demonstrate that the designed automatic tethering system can be applied to the flight of tethered drones,and compared with traditional constant tension control,it improves the control precision and eliminates safety hazards for the tethered drone,providing certain engineering and theoretical value.