Study of a tethered platform stabilization problem in the vertical plane

In modern realities, the use of tethered unmanned aerial platforms that allow monitoring the environment, providing communications and performing a number of other tasks for a long time make tethered multi-copters a good tool for video surveillance. The power supply of such platforms, as well as the transmission of information from the equipment installed on board, is carried out through a cable. A platform is equipped with various communication loads, such as wireless network communication, mobile communication, and so on, providing communication between various operators within a radius of tens kilometers. The presence of a cable imposes restrictions on the working space and the dynamics of the platform, due to the need to control the tension and hold the aircraft with a payload. The purpose of the study is to develop a model of controlled cable stabilization of tethered platforms, taking into account external random disturbances and a limited radius of deviation in the horizontal (vertical) plane. Stabilization of a tethered platform at a certain height is a critical problem related to compensation of disturbing static and dynamic effects from wind flow. The model of stabilization of the tethered platform position proposed in the paper can be used to create tools for designing tethered flying platforms. Research methods. To solve the problem the methods of classical mechanics, the motion stability theory, and the optimal control theory were used. Research results. The results of mathematical modeling of automated parking (hovering) of the platform by means of a cable with a fixed propulsion force of the propellers are presented. The problem of ensuring the positioning accuracy of the copter in a given area was solved. Computational experiments showed that external disturbances have a strong effect on the behavior of the flying platform, especially during stabilization.