Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.
本文提供了一种方法和系统,以缓冲联接到绞盘系统的绳索的有效载荷的振荡,所述绞盘系统布置在无人驾驶航空载具(UAV)上。例如,UAV的控制系统可以通过使得UAV切换到向前飞行模式而缓冲振荡,在所述向前飞行模式中UAV导致在有效载荷上的拖曳,由此缓冲振荡。在另一例子中,控制系统可以使得UAV降低沿至少一个维度的飞行稳定化程度,由此由于UAV沿该维度运动期间的能量消散而缓冲检测到的振荡。以此方式,控制系统可选择和执行一个或多个这种技术,且可在绳索的收回和/或展开期间如此做。
METHODS AND SYSTEMS FOR DAMPING OSCILLATIONS OF A PAYLOAD
用于缓冲有效载荷的振荡的方法和系统
2022-02-08
Patent
Electronic Resource
Chinese
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