Active tether control for a tethered multirotor

Patent · Tue Aug 15 04:00:00 EDT 2023

OSTI ID:2222106

Callow, Diane Schafer; Spencer, Steven James; Rose, Scott E.

A control system and method for tensioning an active tether for a multirotor unmanned aerial system is provided. The control system includes a tensioning pulley and a tensioning spring. The tensioning spring is arranged to generate a variable tension force on the active tether. A transducer is connected adjacent to the tensioning spring to sense a linear displacement position of the tensioning pulley and to transmit a position signal to a controller. The position signal is proportional to the linear displacement position. A servomotor in communication with the controller receives a control signal from the controller in response to the position signal. The servomotor drives a cable reel. The cable reel is rotatably mounted in the frame for spooling the tether in response to rotation of the servomotor. The cable reel is rotated by the servomotor to maintain a predetermined tension on the tensioning spring.

• Research Organization: Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: USDOE National Nuclear Security Administration (NNSA)
• DOE Contract Number: NA0003525
• Assignee: National Technology & Engineering Solutions of Sandia, LLC (Albuquerque, NM)
• Patent Number(s): 11,724,923
• Application Number: 16/875,010
• OSTI ID: 2222106
• Country of Publication: United States
• Language: English