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Methods and Systems for Damping Oscillations of a Payload

  • US 20180072404A1
  • Filed: 12/22/2016
  • Published: 03/15/2018
  • Est. Priority Date: 09/09/2016
  • Status: Active Grant
First Claim
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1. A system comprising:

  • a winch system for an aerial vehicle, wherein the winch system comprises;

    (a) a tether disposed on a spool, (b) a motor that is operable to apply torque to the tether, and (c) a payload coupling apparatus coupled to a leading end of the tether and structured to mechanically couple a payload to the tether; and

    a control system operable to;

    while the aerial vehicle is in a hover flight mode, switch to operation in a tether retraction mode; and

    while operating in the tether retraction mode, perform a damping routine to dampen oscillations of the payload coupling apparatus.

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