Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Modelling and control of a spatial dynamic cable

Modelling and control of a spatial dynamic cable Abstract We study the problem of dynamically controlling the shape of a cable that is fixed at one end and attached to an actuated robot at another end. This problem is relevant to unmanned aerial vehicles (UAVs) tethered to a base. While rotorcrafts, such as quadcopters, are agile and versatile in their applications and have been widely used in scientific, industrial, and military applications, one of the biggest challenges with such UAVs is their limited battery life that make the flight time for a typical UAVs limited to twenty to thirty minutes for most practical purposes. A solution to this problem lies in the use of cables that tether the UAV to a power outlet for constant power supply. However, the cable needs to be controlled effectively in order to avoid obstacles or other UAVs. In this paper, we develop methods for controlling the shape of a cable using actuation at one end. We propose a discrete model for the spatial cable and derive the equations governing the cable dynamics for both force controlled system and position controlled system. We design a controller to control the shape of the cable to attain the desired shape and perform simulations under different conditions. Finally, we propose a quasi-static model for the spatial cable and discuss the stability of this system and the proposed controller. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png "Acta Mechanica Sinica" Springer Journals

Modelling and control of a spatial dynamic cable

"Acta Mechanica Sinica" , Volume 35 (4): 13 – Aug 1, 2019

Loading next page...
 
/lp/springer-journals/modelling-and-control-of-a-spatial-dynamic-cable-QotfCJe2do

References (29)

Publisher
Springer Journals
Copyright
2019 The Chinese Society of Theoretical and Applied Mechanics and Springer-Verlag GmbH Germany, part of Springer Nature
ISSN
0567-7718
eISSN
1614-3116
DOI
10.1007/s10409-019-00844-3
Publisher site
See Article on Publisher Site

Abstract

Abstract We study the problem of dynamically controlling the shape of a cable that is fixed at one end and attached to an actuated robot at another end. This problem is relevant to unmanned aerial vehicles (UAVs) tethered to a base. While rotorcrafts, such as quadcopters, are agile and versatile in their applications and have been widely used in scientific, industrial, and military applications, one of the biggest challenges with such UAVs is their limited battery life that make the flight time for a typical UAVs limited to twenty to thirty minutes for most practical purposes. A solution to this problem lies in the use of cables that tether the UAV to a power outlet for constant power supply. However, the cable needs to be controlled effectively in order to avoid obstacles or other UAVs. In this paper, we develop methods for controlling the shape of a cable using actuation at one end. We propose a discrete model for the spatial cable and derive the equations governing the cable dynamics for both force controlled system and position controlled system. We design a controller to control the shape of the cable to attain the desired shape and perform simulations under different conditions. Finally, we propose a quasi-static model for the spatial cable and discuss the stability of this system and the proposed controller.

Journal

"Acta Mechanica Sinica"Springer Journals

Published: Aug 1, 2019

There are no references for this article.