Dynamics of a Multi-Purpose Lightweight Towed System

Huynh, Nghia; Montalvo, Carlos

doi:10.2514/6.2017-3551

Cited by 1 publication

(3 citation statements)

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“…The dynamics utilized in this analysis is similar to the model derived in earlier work. 23 Major components of the model are included in this report. This model assumes a nonrotating flat Earth model with an inertially fixed frame attached to the Earth.…”

Section: Multibody Dynamic Modelmentioning

confidence: 99%

“…The flight controller on board the quadcopter uses a standard PID control law for roll, pitch, and yaw stabilization. 23,33,34 The flight controller utilized in simulation, however, an inner-loop outer-loop control law is utilized to maintain straight steady and level flight. The inner-outer loop control system begins with the user input position reference commands…”

Section: Quadcopter Forces and Momentsmentioning

confidence: 99%

“…A viscoelastic bead model is used to approximate the tether. 23,[38][39][40] The model can be seen in Figure 3. The tether model consists of n T straight elastic segments connected by universal beads.…”

Section: Tether Dynamicsmentioning

confidence: 99%

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Simulation and experimental results of an unmanned towed system

Huynh

Montalvo

2020

Proceedings of the Institution of Mechanical Engineers, Part G:

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This report investigates the flight dynamics of a small-scale (2 ft) towed system using a quadcopter and actively controlled payload. A towed system includes a main driver to propel the system forward connected to a payload via a tether. The towed system here is unique, and in that the driver is a scratch built quadcopter while the payload is also a scratch built actively controlled aircraft. The payload is designed to carry a small instrument that must be sufficiently far away from all interferences created by a quadcopter. A fully non-linear full state model is created and utilized to reveal that oscillations in the payload are decreased with the introduction of a PD controller on the payload. An experimental setup is built to validate simulation results. Experiments show that an actively controlled payload can decrease the attitude oscillations of the payload.

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Section: Multibody Dynamic Modelmentioning

confidence: 99%

Section: Quadcopter Forces and Momentsmentioning

confidence: 99%