CPC B66D 1/505 (2013.01) [B64F 3/00 (2013.01); B65H 59/384 (2013.01); B65H 75/42 (2013.01); B65H 75/4484 (2013.01); B66D 1/20 (2013.01); B66D 1/38 (2013.01); B65H 59/40 (2013.01); B65H 2701/365 (2013.01)] | 20 Claims |
1. A control system for tensioning an active tether for a multirotor unmanned aerial system, the control system comprising:
a tensioning pulley and a tensioning spring;
the tensioning spring arranged to generate a variable tension force on the active tether;
a transducer connected adjacent to the tensioning spring to sense a linear displacement position of the tensioning pulley and to transmit a position signal to a controller, the position signal proportional to the linear displacement position;
a servomotor in communication with the controller for receiving a control signal from the controller in response to the position signal; and
the servomotor configured to drive a cable reel, the cable reel being rotatably mounted in a frame for spooling the tether in response to rotation of the servomotor;
wherein the cable reel is rotated by the servomotor to maintain a predetermined tension on the tensioning spring.
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