Modeling a Captive Unmanned Aerial System Teledetecting Oil Pollution on the Sea Surface
Frédéric Muttin · 2014
The aerial system described in this chapter is a small drone containing a camera. It is connected to the ship's deck with a light stiff cable, called an umbilical. This chapter focuses on a dynamic modeling of the umbilical. For that, it uses a dynamic cable finite element. The chapter takes into account umbilical elastic strain. The stability, the altitude control and the command of the system can be studied more precisely together with a dynamic modeling. To simplify the problem, the chapter considers regular ship motion on the sea surface, uniform atmospheric flow over the sea, and assumes constant lift-thrust force from the drone. This chapter is organized as follows. First, the system definitions are given. Secondly, it defines the principle of the dynamic modeling. Subsequently, chapter describes the finite- element approximations of the problem considering take-off or landing. Finally, it gives several numerical results and interpretations for normal flight.