Research On Automatic Storage Mechanism Of Maritime Tethered UAV

With the maturity of tethered drone technology,the application scenarios of tethered drones are also becoming more and more extensive.Ships will be affected by waves,sea winds,etc.when they sail at sea.The landing platform needs to be stable,and a swaying platform will cause the drone’s take-off and landing efficiency to become low and increase the danger.This requires the automatic storage mechanism of the tethered drone to have the function of compensating the hull movement.This article mainly designs an automatic storage mechanism for the ship-based tethered drone applied to the marine environment.On the basis of storage and storage of drones,the function of compensating for sea wave motion has been added.During the take-off and landing of the moored drone,the landing of the drone can be assisted by rotating the landing platform.Based on the analysis of the automatic storage mechanism for drones at home and abroad,this paper designs a tethered automatic storage mechanism for tethered drones with a twostage structure.The level structure is an attitude control mechanism,which uses a 4-DOF 2-RPU/2-UPU parallel platform to provide compensation for the ship’s roll and roll motion.The overall structure scheme and control scheme of the automatic storage mechanism are designed.The closed-loop vector method and D-H method are used to model and simulate the forward and inverse kinematics of the attitude control parallel platform,and the working space and mechanism parameters of the mechanism are determined.Combine with MATLAB/Simulink to verify the accuracy of the forward and reverse kinematics model of the mechanism.The Lagrangian method was used to analyze the dynamics of the mechanism,and the type selection and verification of the drive motor.According to the indicators and actual needs of the tethered UAV stabilization platform,the servo control design and simulation analysis of the parallel platform are completed.A double closed-loop control system for speed and position was designed.Through the joint simulation of the control model and the kinematics model,the control performance and system errors of the platform during roll,pitch,and pitch were analyzed,and the feasibility of the platform mechanism scheme was verified.Perform semi-physical simulation based on dSPACE platform,set up a single-degree-offreedom test bench,perform speed closed-loop experiments on the electric actuators of the parallel platform,verify the accuracy of the double closed-loop control system,and simultaneously independently perform platform roll and pitch simulation to verify the platform rotation error,To verify the feasibility of design and control,and to verify the credibility of the organization’s simulation model.Analyze system characteristics and perform error analysis.