Research on Dynamic Modeling Measurement and Control of Cable Traction Devices for Electro-Optical Unmanned Systems

Abstract

In order to realize the high-precision variable direction cable control of the electro-optical unmanned system in non-electromagnetic remote control, a cable traction device measurement and control with characteristics of variable direction traction, rapid installation, and lightweight portability were proposed. Fan-shaped connect rod mechanism and U-shaped groove fixed pulley group were added to it, which can realize multi-direction traction without derailment on the basis of the cable limit and alleviate the cable fracture caused by mechanical wear. Introducing Euler transformation and analyzing the dynamics of the cable, the whole operation process, and the tension detection model was established. A Kalman Filter traction planning method was proposed to solve the problems of inertia delay and emergency stop of the unmanned vehicles after a sudden direction change. In order to verify the effectiveness, an experimental platform for the cable traction system of a 50kg wheeled and 150kg tracked unmanned system was built for simulation and experimental testing. The results show that the cable system has good dynamic variable traction, which can meet the multi-terrain control ability of an electro-optical unmanned system in a complex field environment.