The Design And Study Of The Winding System Of The Tethered Drone

Along with the development of the UAV technology,it is widely used more and more.However,UAV have shortcomings such as insufficient power and short flight time caused by battery power,and the tethered drone can overcome the above problems by wired power supply.In order to ensure the normal operation of the tethered drone,The study of winding systems is one of the key tasks in the study of tethered drone.The research project originated from the national “13th Five-Year” nuclear energy development project,which requires connecting cables to provide power and communication for the drone,improves the flight time and flight load,and has tension control capability.According to the project requirements,the thesis conducted research on the tethered drone and developed conceptual design of the tethered drone.The tethered model is studied.The influence of external wind speed on the tethered model is analyzed.Based on the analysis of the rope parameters,a method for selecting the tethered cable for different rated currents is proposed.A method for estimating the position of the tethered drone is proposed.And a winding machine for tethering is designed with the tension control.It has certain theoretical and engineering significance.Firstly,the function of the tethered winding system is analyzed.Conceptual design of the tethered drone are carried out.The tethered model is derived by Lagrangian dynamics.And targeted for different flight phases.Stability analysis was carried out for multi-stage fixed wind speeds and different variable wind speeds.The wind parameters for the analysis of cables are obtained.Secondly,by investigating the existing tethered cable,the selection analysis of the tethered cable with different rated current and the same rated current is proposed by model simulation.A selection method for the tethered cable.If the motor current is not considered,the cable with a large rated current is selected as much as possible,and when the rated current is the same,the model with the light weight of the tethered cable is preferred,and the second is selected.Tethered cable with a larger diameter.A relative position estimation method for the tethered drone based on the equation of Lagrangian dynamic is proposed.Finally,the physical experiment of the winding device of the tethered drone and the position estimation experiment of the tethered drone are carried out.The tension control test was carried out on the winding device,which indicated that the winding device could control the horizontal tension within a certain range.Secondly,the position estimation experiment of the tethered drone was carried out,and the position estimation was verified by the physical experiment of the cable.The method is effective.