Tethered Payload Control from an Autonomous Helicopter

Abstract

A system is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level controllers are designed to meet the demands of two higher level algorithms. A tether tension controller is designed to avoid the danger of excess slack in the tether interfering with the robot's mobility. A payload sway damping controller is investigated and simulated. Its is shown to be effective in damping dangerous payload oscillations by modulating the vertical manipulation of the winch during hoisting. Future design recommendations are given regarding improvements for a second design iteration.