Type of Document Master's Thesis Author May, James URN etd-10082010-144859 Title Tethered Payload Control from an Autonomous Helicopter Degree Master of Science Department Mechanical Engineering Advisory Committee
Advisor Name Title Kochersberger, Kevin Bruce Committee Chair Southward, Steve C. Committee Member Wicks, Alfred L. Committee Member Keywords
- unmanned systems
- tethered payloads
Date of Defense 2010-08-09 Availability unrestricted AbstractA system is designed to deploy and support a tethered ground robot from an autonomous
helicopter. A winch is designed and built. Electrical hardware for power distribution and
control are designed. Several applied controls problems are investigated. A control architecture
is established and low level controllers are designed to meet the demands of two
higher level algorithms. A tether tension controller is designed to avoid the danger of excess
slack in the tether interfering with the robot's mobility. A payload sway damping controller
is investigated and simulated. Its is shown to be eective in damping dangerous payload
oscillations by modulating the vertical manipulation of the winch during hoisting. Future
design recommendations are given regarding improvements for a second design iteration.
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