Method of actively controlling winch swing via modulated uptake and release
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United States of America Patent
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May 29, 2018
Issued Date -
N/A
app pub date -
Jul 28, 2016
filing date -
May 19, 2014
priority date (Note) -
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Abstract
An unmanned aerial vehicle (UAV) including a winch system, wherein the winch system includes a winch line having a first end that is secured to the payload, and wherein the winch system is controllable to vary the rate of descent of the payload, an inertial measurement unit positioned on the payload or on the first end of the winch line, wherein the inertial measurement unit is configured to measure oscillations of the payload, and a control system configured to (a) receive data from the IMU, (b) determine oscillations of the payload based on the data received from the IMU, and (c) operate the winch system to vary the deployment rate of the winch line so to damp oscillations of the payload.
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