Dicembrini, Emilio (Politecnico di Torino), Scanavino, Matteo (Politecnico di Torino), Dabbene, Fabrizio (Politecnico di Torino), Guglieri, Giorgio (Politecnico di Torino)

Modelling and Simulation of a Tethered UAS

Scheduled for presentation during the Regular Session "Simulation" (FrD2), Friday, September 4, 2020, 17:30−17:50, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

Battery lifetime is one of the most challenging problems for Unmanned Aircraft System (UAS) applications. Multi-rotor platforms usually suffer limited payload capabilities and flight time. To overcome this problem, tethered vehicle solutions have been developed. In this paper, we propose a mathematical model able to describe the dynamic behaviour of a tethered UAS. The approach is based on the Finite Element Method and Lagrange’s Equation of motion. The cable is divided into segments linked to each other by spherical joints. An additional virtual element is used to represent the vehicle dynamics. Compared to other works, a variable cable length is implemented as well as wind effects on overall system are included. Simulation results corroborate that the proposed approach is able to simulate how the cable and UAS work in different operating conditions, such as take-off and hovering in both still air and wind scenario.