Speed and Balancing Control of Two Cables Pulley-Gripper System for Delivery Drone

The important thing that should be consist on delivery drone is landing speed and dropping object with smoothly. For the two cables and two motor pulley system, balancing control are use to balancing the cable that carrying the gripper, while the speed on landing system are controlled. The main advantage to build the system are using balancing PID controller with cable length input and speed control to makes the pulley automatically landing and pulling the object. The object can be land smoothly with speed control, and the cable will be in stable parallel position when the pulley are rotating with balancing control. To detect the object height, we use the proximity sensor and calibrating with rotary encoder. In this paper, we have installed the speed and balancing control on the two cables pulley-gripper system for delivery drone. The final result, the pulley can be land the box smoothly from 4 - 5 meters distance and stable the cable distance with error less than 2 cm respectively.