Analysis of horizontal drift compensation methods for a tethered multi-rotor flying platform

Abstract

The prevalence of unmanned systems of the multirotor type and their use in various fields is becoming higher every year. However, almost all such systems have a significant limitation — the flight time and, accordingly, the effective operating time of most multi-rotor platforms (MRPs) is 15–20 minutes. Th e obvious solution using larger capacity batteries or more energy efficient batteries solves this for a limited range of applications. In this regard, the issue of using tethered MCI to achieve higher flight times due to the provision of power via a cable-cable for use as quick-deployed observation posts or antenna installations is relevant. Specific requirements for these systems is the ability to work in conditions where the disturbing effect of wind and its gusts on the vehicle stabilization system is possible. These disturbances must be taken into account when developing control systems for tethered MCIs. The paper analyzes the ways to compensate for the horizontal drift of a tethered multi-rotor flying platform in the presence of a horizontally directed wind disturbance. To minimize this disturbance to the movement of the platform, various approaches can be used, which requires the development of appropriate control algorithms. As part of solving the problem of finding the most efficient control method, two structurally most convenient ways to compensate for horizontal drift have been established: by increasing the traction force of the motors and by turning the MCI. The results of a comparative analysis of energy costs for the implementation of both methods are presented.