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Anti-disturbance control method for unmanned aerial vehicle suspension load system

A technology of load system and control method, which is applied in general control system, attitude control, adaptive control, etc., can solve the problem of robust control research of multi-rotor UAV suspension load system, cannot guarantee the system control effect, and does not consider system control Accuracy and robustness issues and other issues, to achieve superior UAV position control accuracy and suspension load swing angle suppression effect

Active Publication Date: 2019-09-03
TIANJIN UNIV
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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)

Method used

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  • Anti-disturbance control method for unmanned aerial vehicle suspension load system
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  • Anti-disturbance control method for unmanned aerial vehicle suspension load system

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Embodiment Construction

[0038] In order to overcome the deficiencies of the prior art, the invention aims to propose a set of nonlinear robust control algorithm for the suspension load system of the multi-rotor UAV, so as to improve the control robustness and control accuracy of the system under strong alternating wind disturbance. The technical scheme adopted by the present invention is to design a disturbance observer to estimate the translational disturbance force acting on the body of the rotor UAV in real time, and to design a nonlinear robust controller with a disturbance compensation mechanism. The method includes the following contents:

[0039] Steps to build the kinematic model of the multi-rotor UAV suspension load system:

[0040] The schematic diagram of the suspension load system of a multi-rotor UAV (taking a quad-rotor UAV as an example) is as follows: figure 1 shown. I represents the inertial coordinate system, B represents the UAV body coordinate system, and p Q =(x Q ,y Q ,z ...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05B13/04
Inventor 鲜斌郑国周
Owner TIANJIN UNIV
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