The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis
The Power-over-Tether system for powering small UAVs: Tethering-line tension control synthesis
复制标题
用于为小型无人机供电的系绳供电系统：系绳张力控制综合
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
A. Tzes
中科院分区：
文献类型：
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作者：
Lida Zikou;C. Papachristos;A. Tzes
在这项工作中，开发了一种小型悬停无人机的远程供电系统，旨在实现更长的续航时间，以满足可能的民用需求。为此，提出了系绳供电系统的关键概念，将无人机运行的电源库放置在地面上，并通过系绳电缆进行电力传输。为了让无人机能够尽可能自由地执行悬停轨迹，一根长的电源线缠绕在定制开发的底座上，该底座能够在必要时释放和收回。绳索供电系统底座是为自主操作而开发的，当空中飞行器需要额外长度的自由电缆才能移动到其预期目标时，或者当过长的电缆需要收回时，本地感应，并执行相应的操作。在本文的研究范围内，详细阐述了该系统的硬件实现和控制实现。此外，还进行了实验评估研究，展示了拟议的系绳供电系统的潜力。
Within this work, a system for remote powering of small-scale hovering Unmanned Aerial Vehicles is developed, aiming to achieve prolonged-endurance flight times in order to address possible civilian applications with such requirements. To this purpose, the key-concept of a Power-over-Tether system is proposed, with the power bank for the UAV's operation located on the ground, and power transferred via a tethering cable. In order for the UAV to be capable of executing hovering trajectories as freely as possible, a long power cable is wound onto a custom-developed base, which is capable of releasing and retracting it when necessary. The Power-over-Tether system base is developed to operate autonomously, locally sensing when the aerial vehicle requires additional length of free cable to move to its intended goal, or when excessive cable length requires retraction, and performs the respective actions. The complete implementation of the system, both hardware and control-wise is elaborated in detail within the scope of this paper. Additionally, experimental evaluation studies are conducted, demonstrating the potential of the proposed Power-over-Tether system.