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.
Simulation and experimental results of an unmanned towed system
2020-12-01
19 pages
Article (Journal)
Electronic Resource
English
A metamodel-based towed system simulation
Tema Archive | 1999
|REMOTELY-DEPLOYED INTELLIGENT SEABED FOUNDATION TOWED BY UNMANNED BOAT
European Patent Office | 2022
|European Patent Office | 2020
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