A numerical model of a towed cable-body system

Chin, Christopher; May, Robyn; Connell, HJ

doi:10.21914/anziamj.v42i0.603

Cited by 10 publications

(6 citation statements)

References 3 publications

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“…Cochran et al (1992) develop an approach to eliminating constraint forces in the cable that maintains constant link lengths through a change of variables. Chin and Connell (2000) apply partial dierential equations to model the cable-body system and solve them using thenite dierence method. Turkyilmaz and Egeland (2001) develop a two-dimensional dynamic model for a towed cable for seismic survey studies.…”

Section: Mathematical Model Of Cable-drogue Systemmentioning

confidence: 99%

Multi-vehicle dynamics and control for aerial recovery of micro air vehicles

Colton

Sun

Carlson

et al. 2011

IJVAS

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Aerial recovery of micro air vehicles (MAVs) presents a challenging problem in multi-vehicle dynamics and control. This paper presents a method for recovering MAVs in ight using a mothership and towed drogue, in which the mothership executes an orbit that places the drogue in a stable, slower orbit that can be tracked by a MAV. A method for modeling the dynamics of the mothership-cabledrogue system, based on Gauss's principle, is presented. The dierential atness property of the system is exploited to calculate mothership trajectories from desired drogue orbits, and a backstepping controller is proposed that enables accurate mothership trajectory tracking. A drag-based controller for the drogue is also described. Methods to enable the MAV to estimate and track the drogue orbit are discussed. The modeling and control methods are illustrated through simulation and ight results.

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Section: Mathematical Model Of Cable-drogue Systemmentioning

confidence: 99%

Multi-vehicle dynamics and control for aerial recovery of micro air vehicles

Colton

Sun

Carlson

et al. 2011

IJVAS

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“…The mathematical model of the cable-drogue or towedcable systems is well established in the literature for both air and underwater environments [2] [3] [5] [6] [7]. As is typical, we will use a discretized finite element or lumped mass representation of the cable dynamics.…”

Section: Dynamics Of Cable-drogue Systemsmentioning

confidence: 99%

“…Using the approaches in [2] [3] [5] [6] [7], the internal and external forces need to be described explicitly. Reference [2] develops towed-cable dynamics based on the Lagrange approach which requires an explicit derivation of the tension in the cable.…”

Section: Dynamics Of Cable-drogue Systemsmentioning

confidence: 99%

Dynamics and control of cable-drogue system in aerial recovery of Micro Air Vehicles based on Gauss's Principle

Sun

Beard

Colton

et al. 2009

2009 American Control Conference

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This paper presents a new concept for aerial recovery of Micro Air Vehicles (ARMAVs) using a large mothership and a recovery drogue. The mothership drags a drogue attached to a cable and the drogue is controlled to match the flight patten of the MAV. This paper uses Gauss's Principle to derive the dynamic model of the cable-drogue systems. A controllable drogue plays a key role in recovering MAVs in windy conditions. We develop a control approach for the drogue using its drag coefficient. Simulation results based on multilink cable-drogue systems present the feasibility of the aerial recovery concept and the controllability of the drogue.

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“…The governing equations for the warp result finally from imposing equilibrium of forces (Chin et al, 2000):…”

Section: Warp Equationsmentioning

confidence: 99%