The design, modelling and control of an autonomous tethered multirotor UAV
Date
2017-03
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Stellenbosch : Stellenbosch University
Abstract
ENGLISH ABSTRACT: This work details the design, modelling, control and successful demonstration of a
tethered multirotor UAV system; as a rst iteration towards an alternative, and
more accessible, persistent aerial platform. The project focusses speci cally on the
development of appropriate modelling and
ight control strategies, in addition to
the development of a suitable practical testing platform.
The tether model is developed based on the assumption of a quasi-static catenary,
which su ciently encapsulates the dominant tether forces. The
ight control strategy
is catered towards the civilian landscape with a minimalist sensor con guration
that aims to keep the system simple and cost-e ective. A conventional control
system is initially developed for the untethered system, and thereafter adapted to
cater for the unique aspects of tethered
ight. The control architecture implements
variations of linear PID control in a successive loop closure approach.
A physical test platform is developed consisting of a 0.8m 0.8m quadrotor vehicle,
modi ed to accommodate a tether. Results are presented for hardware-in-the-loop
simulations as well as practical
ight tests. The practical
ight tests served to successfully
demonstrate the developed
ight control strategy, in addition to providing
insight into some of the observed idiosyncrasies of tethered light.
AFRIKAANSE OPSOMMING: Geen opsomming beskikbaar
AFRIKAANSE OPSOMMING: Geen opsomming beskikbaar
Description
Thesis (MScEng)--Stellenbosch University, 2017.
Keywords
UCTD, Tethered satellites, Control systems (Flight), Drone aircraft, Artificial satellites