Eventos Anais de eventos
DINAME2019
DINAME2019
Modeling of Tethered Multicopters Using Spring-Damper Effects
Submission Author:
Davi Ferreira de Castro , SP , Brazil
Co-Authors:
Davi Ferreira de Castro, Igor Afonso Acampora Prado , Mauricio Andrés Varela Morales, Domingos Rade
Presenter: Davi Ferreira de Castro
doi://10.26678/ABCM.DINAME2019.DIN2019-0163
Abstract
This paper presents a modeling of tethered multicopters using spring-damper effects. A dynamic modeling is presented for the tethered system in three-dimensional space, including damping at the tether nodes, which is composed of an arbitrary number of rigid links that are interconnected through joints with torsional spring-damper effects. The modeling of the tethered system will be obtained through continuous formulations, based on energy principles using variational calculus features. Simulations with MATLAB/Simulink run to evaluate the performance of the tethered MAV in reaching hover position.
Keywords
Tethered multicopter, torsional spring-damper effects, modeling
