Disturbance rejection control method for unmanned aerial vehicle suspension loading system

Abstract

The invention belongs to the field of multi-rotor unmanned aerial vehicle loading transport control study and provides a set of nonlinear robust control algorithm for a multi-rotor unmanned aerial vehicle suspension loading system so as to improve the control robustness and control accuracy of the system under strong alternating wind disturbance. According to the technical scheme, the disturbance rejection control method for the unmanned aerial vehicle suspension loading system disclosed by the invention comprises the following steps: constructing a dynamitic model of the multi-rotor unmanned aerial vehicle suspension loading system; designing a disturbance observer; performing mathematical derivation so as to obtain an observation model of the disturbance observer based on a kinematical equation of the provided multi-rotor unmanned aerial vehicle suspension loading system. The method disclosed by the invention is mainly applied to the occasion of multi-rotor unmanned aerial vehicle loading transport control.

Description

technical field [0001] The invention belongs to the research field of multi-rotor UAV load transportation control. Aiming at the robust control requirements of the multi-rotor UAV suspension load system, a set of control methods for the rotor UAV-suspension load system based on the disturbance observer is proposed, which realizes the control of the UAV under the strong alternating external wind disturbance. Position stabilization control and suspension load swing angle suppression control. Specifically, it relates to an anti-disturbance control method for a UAV suspension load system. Background technique [0002] With the trend of miniaturization and low cost of navigation sensors for small UAVs, the application of multi-rotor UAVs in military and civilian fields is developing rapidly. The multi-rotor UAV has strong maneuverability and can realize various maneuver missions including vertical take-off and landing, hovering and side flight. [0003] The multi-rotor UAV sus...

AI Technical Summary

Problems solved by technology

[0005] The control method of the multi-rotor UAV suspension load system represented by the above method has achieved certain theoretical results, but there is still a major deficiency: the robust control problem of the multi-rotor UAV suspension load system has not been studied.

The experimental verification of the above control algorithms is carried out without disturbance, without considering the control accuracy and robustness of the system under external disturbances, and cannot guarantee the control effect of the system under common external disturbances (such as strong wind disturbances)

Images