CN107161808B - One kind being tethered at unmanned plane folding and unfolding cable device and its control system - Google Patents
One kind being tethered at unmanned plane folding and unfolding cable device and its control system Download PDFInfo
- Publication number
- CN107161808B CN107161808B CN201710433693.7A CN201710433693A CN107161808B CN 107161808 B CN107161808 B CN 107161808B CN 201710433693 A CN201710433693 A CN 201710433693A CN 107161808 B CN107161808 B CN 107161808B
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- Prior art keywords
- cable
- freewheel
- collection tube
- unmanned plane
- unfolding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
Landscapes
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
The present invention provides one kind and is tethered at unmanned plane folding and unfolding cable device and its control system, driving unit includes torque motor, synchronous belt, spooling gear is made of two-way lead screw, screw pair and guide rail, cable collection tube coiling is directly driven by torque motor, the synchronized tape handler of torque motor drives reciprocal lead screw rotation, realize the reciprocal winding displacement movement of screw pair, optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected on unmanned plane finally by guiding mechanism.Direct drive of torque motor cable collection tube of the invention, reduce the power consumption caused by the factors such as mechanism friction in transmission process, it is different from the single directive wheel of traditional folding and unfolding cable device in terms of being oriented to and fixing optical cable, but use three groups of freewheels, wherein two groups of axis are vertical and are mounted on screw pair and move horizontally with lead screw rotation, another group be fixed on guarantee on bracket optical cable enter force snesor direction it is constant to ensure measurement accuracy.
Description
Technical field
The present invention relates to a kind of folding and unfolding cable systems more particularly to one kind to be tethered at unmanned plane folding and unfolding cable device and its control system
System.
Background technique
With the development and popularization of unmanned air vehicle technique, problem of continuing a journey is more prominent.In order to solve this problem, Ren Menxuan
It selects and combines traditional unmanned air vehicle technique with tethered platform technology, formation is tethered at unmanned plane.Folding and unfolding cable device is to be tethered at nobody
The core of machine technology, the hawser folding and unfolding effect of connection unmanned plane part, which will have a direct impact on, is tethered at unmanned plane working performance.
Traditional folding and unfolding cable device is chiefly used in underwater robot, search and rescue robot etc., and is tethered at unmanned plane folding and unfolding cable device
It compares, these extraordinary draw off gear folding and unfolding cable power are big, and structure size is big, and guiding mechanism design is not able to satisfy unmanned plane hawser folding and unfolding
The requirement of feature.
Summary of the invention
The purpose of the invention is to provide one kind to be tethered at unmanned plane folding and unfolding cable device and its control system, can be carried out with it
It is tethered at the optical cable folding and unfolding of unmanned plane.
The object of the present invention is achieved like this: including bracket and with the torque motor of photoelectric encoder, between bracket
It is provided with lead screw and cable collection tube shafting, and lead screw is located above cable collection tube shafting, the output end and cable collection tube shafting of torque motor
Connection is provided with cable collection tube in cable collection tube shafting, is wound with cable on cable collection tube, cable collection tube shafting connect with torque motor one
Driving pulley is additionally provided on end, the other end of cable collection tube shafting is provided with slip ring, the end of lead screw is provided with driven pulley,
It is provided with synchronous belt between driving pulley and driven pulley, sliding block is provided on lead screw, upper end of slide block face is provided with horizontal direction
The first freewheel group, the second freewheel group of vertical direction is provided on outer end face, be provided with third freedom on the bracket
Wheel group, is additionally provided with force measuring machine on the bracket, and pedestal upper end is provided with guiding mechanism, and the force measuring machine includes and bracket
The fixing seat of connection, the left directive wheel being mounted in fixing seat, force-measuring wheel and right directive wheel, force-measuring wheel connect force snesor, institute
Stating guiding mechanism includes that pedestal on rack-mount end face, the turning unit being arranged in pedestal by bearing, setting exist
Free wheel support on turning unit, the No.1 pin shaft mounting base being separately positioned on free wheel support and turning unit and No. two
Pin shaft mounting base, respectively by pin shaft be mounted on freedom in minor affairs wheel in No.1 pin shaft mounting base and No. two pin shaft mounting bases and it is big from
By taking turns, the end of cable passed through the second freewheel group, the first freewheel group, third freewheel group before this, then successively led around a left side
To wheel, force-measuring wheel and right directive wheel, most afterwards through being pierced by between big freewheel and freedom in minor affairs wheel.
The invention also includes structure features some in this way:
1. also setting up spring between the pin shaft of big freewheel and No. two pin shaft mounting bases.
2. the first freewheel group, the second freewheel group and third freewheel group include two equal-sized freedom
Wheel.
3. a kind of control system for being tethered at unmanned plane folding and unfolding cable device is tethered at unmanned plane folding and unfolding cable device including described,
Torque motor control cable acts, encoder real-time measurement folding and unfolding length of cable and speed, on force snesor real-time measurement cable
Tension, further include the servo-driver of system controller and the output of control moment motor, system controller is by given tension value
Servo-driver is sent to unmanned plane location information；Servo controller passes through CAN communication for length of cable, tension and current work
System controller is sent to as state.
Compared with prior art, the beneficial effects of the present invention are: in view of the above-mentioned problems, and with reference to previous extraordinary folding and unfolding
On device basic, the invention proposes a kind of for being tethered at the folding and unfolding cable device of unmanned plane.Storage is driven by single power source simultaneously
Cable cylinder and spooling gear, wherein cable collection tube is directly driven by torque motor, and same torque motor is driven by tape handler again
Bus cable device guarantees that coiling movement is synchronous with winding displacement, and speed is at certain proportionate relationship.Bus cable device selects lead screw cable machine
Structure installs two groups of freewheels on sliding block (screw pair), meets while limiting cable exit position and adapts to the variation of the reel diameter of axle
Requirement.A pair of of freewheel is installed in guiding mechanism, so that optical cable and guiding mechanism is in rolling friction state always, to reduce
Influence of the guiding mechanism to optical cable tension.In control method, using power and speed two close cycles, solve in quickly retracting cable process
In identical tension problem.
Detailed description of the invention
Fig. 1 is control program figure of the invention；
Fig. 2 is 3 d effect graph of the invention；
Fig. 3 is forward sight direction structure schematic diagram of the invention；
Fig. 4 is overlook direction structural schematic diagram of the invention；
Fig. 5 is the 3 d effect graph of force measuring machine of the invention；
Fig. 6 is the 3 d effect graph of guiding mechanism of the invention；
Fig. 7 is the cross-sectional view of guiding mechanism of the invention；
Fig. 8 is the top view of guiding mechanism of the invention；
Fig. 9 is overall structure diagram of the invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In conjunction with Fig. 1 to Fig. 8, in conjunction with Fig. 2,3,4, the present invention includes bracket, spooling gear, cable collection tube, driving unit, guiding
Mechanism, force measuring machine etc..Driving unit is made of torque motor, synchronous belt etc., and spooling gear is by two-way lead screw, sliding block (spiral
It is secondary) and guide rail composition.Guide rail and lead screw are arranged in parallel, and limitation sliding block (screw pair) follows lead screw to rotate, and lead and at the same time playing
To effect, two groups of freewheels on sliding block (screw pair) go out cable position during then effectively limiting winding displacement, and have adapted to light
Optical cable small range swing caused by the reel diameter of axle changes during cable folding and unfolding.Cable collection tube is driven by a torque motor simultaneously
With the rotation of lead screw, it is synchronous to realize that coiling is acted with reciprocal winding displacement.The optical cable on cable collection tube is wrapped in by three groups of freewheels
And force measuring machine, by connecting after guiding mechanism with unmanned plane, guiding mechanism can do 360 degree under the action of eccentricity and turn
It is dynamic, so that optical cable in any direction can free extension movement.The present invention is tethered at nothing for realizing under external environmental interference
Constant tensile control in man-machine release, flat winged and removal process.Torque motor drives spooling gear and cable collection tube simultaneously, due to same
The transmission effect of band is walked, cable collection tube and spooling gear move synchronously, namely the rotation speed of cable collection tube is realized by toothed belt transmission
Degree is with spooling gear horizontal movement velocity at certain proportionate relationship.Direct drive of torque motor cable collection tube, eliminates by transmission mechanism
The bring that rubs influences.Two groups of freewheels are added on screw slider (screw pair), wherein cable outgoing line position is arranged in one group of limitation, and it is another
Reel diameter of axle variation during one group of adaptation folding and unfolding cable.Guiding mechanism is mainly used by pedestal, turning unit, rolling bearing, axis
Retaining ring and a pair of of freewheel composition.Guiding mechanism can do 360 degree of rotations around axis under the action of eccentricity, in guiding mechanism
One group of freewheel of interior installation reduces optical cable and passes through Guiding machine so that optical cable and guiding mechanism be made to be in rolling friction state always
Friction when structure, to reduce influence of the guiding mechanism to optical cable tension.Optical cable enters after one group of fixed freewheel to be surveyed
Force mechanisms, it is ensured that optical cable is vertical with force measuring machine axis to guarantee dynamometry accuracy.Force measuring machine selects three-wheel group dynamometry scheme,
That is one directive wheel of each arrangement in left and right, breast wheel is that force-measuring wheel is connected with sensor internal, before optical cable enters force measuring machine,
The fixed freewheel in one group of position is first passed through, to keep optical cable vertical with the holding of the axis of force measuring machine, direction is fixed, to ensure
The accuracy of dynamometry, this setup of the invention is compared with the single-wheel dynamometry scheme that general folding and unfolding cable device uses, inertia
It is small, it is sensitiveer, more save space.Turning unit is installed by rolling bearing and pedestal, makes guiding mechanism in the work of eccentricity
One group of freewheel can be installed in guiding mechanism around axis flexible rotating under, so that optical cable be made to locate always with guiding mechanism
In rolling friction state, reduce friction when optical cable passes through guiding mechanism, reduces influence of the guiding mechanism to optical cable tension.
Specifically the present invention is: the torque motor 8 for being equipped with encoder 9 passes through shaft coupling 15 and cable collection tube coupling of shaft system.
Cable collection tube shafting and lead screw shaft 11 are mounted in two bearing blocks in left and right by a pair of deep groove ball bearing respectively, and synchronous pulley 10 divides
It is not mounted in cable collection tube shafting and lead screw shaft 11 by flat key connection.Torque motor 8 directly drives cable collection tube 6, and by same
It walks band 7 and drives lead screw shaft 11, to realize that sliding block (screw pair) 12 is moved horizontally along guide rail 13.Reciprocal lead screw unidirectionally turns
It is dynamic, it when sliding block (screw pair) 12 moves to extreme position, can be moved automatically along opposite direction, be not necessarily to motor commutation, Ji Nengshi
Now toward multiple bank cable.Slip ring 16 is installed in the end of roller shafting, the optical cable in external cable and cable collection tube is separated, is avoided
Occurs optical cable distortion in winding process.
In conjunction with Fig. 2,3,5, optical cable needs successively from cable collection tube to unmanned plane is reached by being mounted on sliding block (screw pair) 12
On the second freewheel group 5 and the first freewheel group 4, a pair of of the third freewheel group 14 being fixed on bracket 3 is fixed on bracket
Force measuring machine 2 and guiding mechanism 1 on 3, every group of freewheel group is by the identical freewheel of two sizes.In space layout,
Third freewheel group 14, the line and cable collection tube 6 of 1 centre of gyration of force measuring machine 2 and guiding mechanism are tangent, it is ensured that optical cable enters survey
The direction of force mechanisms and angle are fixed, and ensure that the accuracy of force measurements.Freewheel group 5 defines in optical cable swing process
Outlet port, the first freewheel group 4 realize the variation that 6 outer diameter of cable collection tube is adapted in online swing process, the axis of two groups of freewheels
Line is mutually perpendicular to.Force measuring machine includes left directive wheel 19, right directive wheel 21 and force-measuring wheel 20, and size is small, and rotation flexibly, reduces
Optical cable 18 by when resistance.
In conjunction with Fig. 6,7,8, turning unit 27 is mounted in pedestal 28 by deep groove ball bearing 29, is prevented with circlip 30
The axial motion of turning unit 27.Free wheel support 22 is mounted on turning unit 27 by screw.Simultaneously using a pair of free
Wheel, freedom in minor affairs wheel 23 and big freewheel 24 are pacified by pin 26 and No.1 pin shaft mounting base 31 and No. two pin shaft mounting bases 25 respectively
On free wheel support 22 and turning unit 27.It is small that the spring being mounted in 27 slot of turning unit realizes big freewheel pin shaft
Range adjustment, ensure that optical cable is in always between two freewheels, when optical cable squeeze freedom in minor affairs wheel 23 when, due to extruding force with
The centre of gyration (center line in Fig. 7) of turning unit 27 is non-intersecting, and can generate immediately an eccentricity rotates turning unit,
So that optical cable in any direction can free extension movement, and always be in rolling friction state, reduce guiding mechanism to light
The influence of cable tension
Control system of the invention includes system controller, servo-driver, torque motor, force snesor and encoder.
Wherein, servo-driver control moment motor exports；The movement of torque motor control cable；Encoder real-time measurement folding and unfolding hawser is long
Degree and speed；Tension on force snesor real-time measurement cable.Servo-driver have current compensation and monitoring, velocity compensation and
Tension force function.Wherein current monitoring link ensures that motor will not overload, and current compensation link realizes the quick of motor load
Property and stationarity；Velocity compensation and the two closed loops of tension force are while providing tension overload protection and stall detects, altogether
With the automatic control for being tethered at unmanned plane release recycling is realized, avoids impacting, improve recyclability.
Given tension value and unmanned plane location information are sent to servo-driver by system controller；Servo controller passes through
By cable, long, tension and current working status are sent to system controller to CAN communication, provide number to detect the flying height of unmanned plane
According to, and avoid damaging motor and controller because of excessive cable laying tension.
In conjunction with Fig. 1,2, the photoelectric encoder 9 being mounted on torque motor 8 measures the folding and unfolding length of hawser and current
Folding and unfolding speed, force snesor 2 measure current cable tension, are sent to system controller by servo-driver, determine unmanned plane
Height simultaneously confirms whether control method is located in normal operation.System controller is current to servo controller transmission unmanned plane
Position, and providing instruction (cable laying, flat winged or recycling) makes servo controller select different control algolithms according to different instruction.
Controller controls the output torque and speed of DC servo motor by PWM drive circuit, anti-by tension, speed
Double-closed-loop control is presented, realizes and is controlled in optical cable dynamic identical tension automatic deploying and retracting cable, the tension solved under optical cable motion state is accurate
Control problem.Cable laying linear measure longimetry is realized by photoelectric coding, realizes that unmanned plane landing is packed up by take-up Automatic Control Strategy
Automatic control, avoid impact, improve recyclability.Cable long message is sent to by system controller by CAN communication simultaneously, is
The flying height distance for detecting unmanned plane provides data；Using protections such as current of electric feedback, tension overload protection, stall detections
Method avoids excessive cable laying tension, avoids because of overload damage motor and controller, it is ensured that system operational safety.
In the cable laying stage, speed control is main control ring, and cable stretch control is auxiliary closed loop, is realized in regulation tension model
With certain speed cable laying (rise rate information with unmanned plane or the anticipation adjust automatically by the controller rate of climb in enclosing
Cable releasing speed)；The flat winged stage realizes the automatic receiving/releasing cable of identical tension, solves in the flat winged stage because a variety of causes causes unmanned plane
With the bottom surface vehicle movement that is equipped with folding and unfolding cable device it is inconsistent make paired cable pull problem, it is automatic by constant tensile control
The length for adjusting cable, using cable stretch closed-loop control as main closed loop；Recovery stage realizes automatic take-up, and position control is master control
Ring processed, cable stretch control are auxiliary closed loop.The speed drawn over to one's side is planned according to unmanned plane relative position different from recycling bins, it is real
The steady recycling of existing unmanned plane.
To sum up, it is an object of that present invention to provide one kind to be tethered at unmanned plane folding and unfolding cable device and control method.Device includes branch
Frame, spooling gear, cable collection tube, driving unit, guiding mechanism, force measuring machine etc..Driving unit is by structures such as torque motor, synchronous belts
At spooling gear is made of two-way lead screw, sliding block (screw pair) and guide rail.Cable collection tube coiling is directly driven by torque motor, together
When the synchronized tape handler of torque motor drive reciprocal lead screw rotation, to realize the reciprocal winding displacement movement of sliding block (screw pair).
Optical cable sequentially passes through three groups via bus cable device and determines freewheel and force snesor, is connected on unmanned plane finally by guiding mechanism.
The method have the characteristics that direct drive of torque motor cable collection tube, reduces the power caused by the factors such as mechanism friction in transmission process
Consumption, is different from the single directive wheel of traditional folding and unfolding cable device in terms of being oriented to and fixing optical cable, but uses three groups of freewheels,
Wherein two groups of axis are vertical and are mounted on sliding block (screw pair) and move horizontally with lead screw rotation, and another group is fixed on bracket and protects
The direction that card optical cable enters force snesor is constant to ensure measurement accuracy.Guiding mechanism can turn under the action of eccentricity
It is dynamic, so that optical cable in any direction can free extension movement.
The folding and unfolding cable control system based on aforementioned device that the present invention also provides a kind of, comprising: system controller, servo are driven
Dynamic device, torque motor, force snesor and encoder.Wherein, servo-driver control moment motor exports, while by cable length
And current working status feeds back to system controller, system controller sends task order and unmanned plane positioning to servo-driver
Information；The movement of torque motor control cable；Encoder real-time measurement folding and unfolding cable length and speed；Force snesor real-time measurement line
Tension on cable.Servo-driver has current compensation and monitoring, velocity compensation and tension force function.Wherein current monitoring ring
Section ensures that motor will not overload, and current compensation link realizes the rapidity and stationarity of motor load；Velocity compensation and tension control
The two closed loops are made while tension overload protection and stall are provided detecting, it is common realize be tethered at unmanned plane release recycling from
Dynamic control, avoids impacting, and improves recyclability.The MCU of servo-driver needs to realize that tension force, current compensation and speed are mended
Repay three closed loops, and by way of CAN communication by folding and unfolding cable system mode Real-time Feedback to system controller, guarantee in the external world
Under environmental disturbances, being tethered at unmanned plane can quick release and recycling under the given tension of system controller.
Claims (4)
1. one kind is tethered at unmanned plane folding and unfolding cable device, it is characterised in that: including bracket and with the torque motor of photoelectric encoder,
Lead screw and cable collection tube shafting are provided between bracket, and lead screw is located above cable collection tube shafting, the output end of torque motor and storage
Cable cylinder coupling of shaft system is provided with cable collection tube in cable collection tube shafting, cable, cable collection tube shafting and torque motor is wound on cable collection tube
Driving pulley is additionally provided on one end of connection, the other end of cable collection tube shafting is provided with slip ring, the end of lead screw is provided with
Driven pulley is provided with synchronous belt between driving pulley and driven pulley, sliding block is provided on lead screw, and upper end of slide block face is provided with
It is provided with the second freewheel group of vertical direction in first freewheel group of horizontal direction, outer end face, is provided on the bracket
Third freewheel group is additionally provided with force measuring machine on the bracket, and pedestal upper end is provided with guiding mechanism, the force measuring machine packet
Left directive wheel, force-measuring wheel and the right directive wheel for including the fixing seat connecting with bracket, being mounted in fixing seat, force-measuring wheel attachment force pass
Sensor, the guiding mechanism include pedestal on rack-mount end face, the turning unit being arranged in by bearing in pedestal,
The free wheel support being arranged on turning unit, the No.1 pin shaft mounting base being separately positioned on free wheel support and turning unit
The freedom in minor affairs wheel being mounted on No. two pin shaft mounting bases, respectively by pin shaft in No.1 pin shaft mounting base and No. two pin shaft mounting bases
With big freewheel, the end of cable passed through the second freewheel group, the first freewheel group, third freewheel group before this, then successively around
Left directive wheel, force-measuring wheel and right directive wheel are crossed, most afterwards through being pierced by between big freewheel and freedom in minor affairs wheel, the first freewheel group, dynamometry
The line of mechanism and the guiding mechanism centre of gyration is tangent with cable collection tube, and the second freewheel group defines going out in optical cable swing process
Mouth position, the first freewheel group realize the variation that cable collection tube outer diameter is adapted in online swing process.
2. one kind according to claim 1 is tethered at unmanned plane folding and unfolding cable device, it is characterised in that: in the pin shaft of big freewheel
Spring is also set up between No. two pin shaft mounting bases.
3. one kind according to claim 2 is tethered at unmanned plane folding and unfolding cable device, it is characterised in that: first freewheel
Group, the second freewheel group and third freewheel group include two equal-sized freewheels.
4. a kind of control system for being tethered at unmanned plane folding and unfolding cable device, it is characterised in that: be tethered at nothing including as claimed in claim 3
Man-machine folding and unfolding cable device, the movement of torque motor control cable, encoder real-time measurement folding and unfolding length of cable and speed, force snesor
Tension on real-time measurement cable further includes the servo-driver of system controller and the output of control moment motor, system control
Given tension value and unmanned plane location information are sent to servo-driver by device；Servo controller is long by cable by CAN communication
Degree, tension and current working status are sent to system controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433693.7A CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433693.7A CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161808A CN107161808A (en) | 2017-09-15 |
| CN107161808B true CN107161808B (en) | 2019-04-12 |
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| CN201710433693.7A Active CN107161808B (en) | 2017-06-09 | 2017-06-09 | One kind being tethered at unmanned plane folding and unfolding cable device and its control system |
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