Tandem double-duct type flight robot and dynamics cooperative control method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a tandem double-duct type flight robot and a dynamics cooperative control method thereof. The invention provides a whole dynamics modeling and cooperative control strategy of an aerial vehicle and a mechanical arm based on the tandem double-duct type flight robot and the dynamics cooperative control method thereof. In a controlling process, an acting force of the mechanical arm is not considered as disturbance on the aerial vehicle, and the mechanical arm and the aerial vehicle are not controlled respectively; a whole flight robot platform is considered as a complete dynamic system; the aerial vehicle participates in adjustment of postures of a tail end of the mechanical arm through position control; the changes of a gravity center and a joint torque of the mechanical arm are caused by motions, and a corresponding moment is generated to assist the control on the postures of the aerial vehicle. The flight robot can realize automatic hovering and environment interaction, and has the advantages of small spatial size, large effective load, high passibility and accessibility, high control response sensitivity, great improvement of system stability and robustness, and the like.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a tandem double-duct flying robot and a dynamics cooperative control method thereof. Background technique [0002] Traditional unmanned aerial vehicles can only generate information interaction with the physical environment, and collect information through the equipped camera platform and sensors. With the development of unmanned aerial vehicles, the advantages of new flying robot platforms that can physically contact and interact with the environment and exert active influence on the environment have become increasingly prominent, resulting in huge application prospects in the following three aspects: 1. Complete tasks such as sample collection in unmanned scientific research, environmental monitoring and disaster assessment; 2. For special environments such as urban anti-terrorism and urban rescue, replace humans to carry out dangerous operations; 3. Complete i...

AI Technical Summary

Problems solved by technology

This kind of flying robot platform has two main disadvantages: one is that quadrotors, helicopters and other aircraft must ensure a sufficiently open environment when flying due to their own structural reasons.

The core of the flying robot platform lies in the physical contact and interaction with the environment, which inevitably creates an irreconcilable contradiction with the open environment required for the stable flight of the aircraft, and also shows that the traditional quadrotor and helicopter are not suitable as the carrier of the flying robot platform

The second is to consider the aircraft and the mechanical arm separately, regard the mechanical arm simply as a load, and regard the force of the mechanical arm as an external disturbance, and the control method of offsetting it through the control of the aircraft itself makes the stability of the system poor.

The increased channel dimension due to the addition of n actuators after installing n-DOF manipulators is originally beneficial to the control stability of the original underactuated system. adversely affected

In addition, this control method is only suitable for situations where the mass of the manipulator and the object being manipulated is far less than the weight of the aircraft

When the mass of the manipulator and the aircraft are of the same order of magnitude, the force brought by it can no longer be solved by the control robustness of the aircraft itself

However, the self-weight of the aircraft is much greater than the requirements of the mechanical arm, which not only has the problem of restricting the use environment due to the large size of the aircraft itself, but also has the defect that the objects that the robotic arm can manipulate are too small and too light to be practical, which greatly restricts the flight. Application of robot platform

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