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Nonlinear control method for suspension transportation system of rotor unmanned aerial vehicle

A quadrotor UAV hanging and quadrotor UAV technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as stability analysis and convergence proof not given, Achieve good swing reduction effect

Active Publication Date: 2018-03-06
TIANJIN UNIV
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Problems solved by technology

However, the paper does not give a more rigorous stability analysis and proof of convergence

Method used

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  • Nonlinear control method for suspension transportation system of rotor unmanned aerial vehicle
  • Nonlinear control method for suspension transportation system of rotor unmanned aerial vehicle
  • Nonlinear control method for suspension transportation system of rotor unmanned aerial vehicle

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Embodiment Construction

[0070] In order to overcome the deficiencies in the prior art, the present invention aims to propose a nonlinear self-adaptive robust control method based on the energy method, so as to control the position of the quadrotor UAV under the condition that some parameters of the system are unknown. effectively suppress the swing of the suspended load in flight. The technical solution adopted in the present invention is that the control method of the four-rotor UAV hanging flight system based on the energy method is implemented on the UAV equipped with a sling for lifting objects. Fu equation, and then design the controller to realize the control of the UAV. The further specific steps are: firstly, through the force analysis of the UAV and the hanging object during the flight of the quadrotor UAV, respectively, so as to obtain the following: figure 1 The nonlinear dynamic model of the four-rotor UAV suspension flight process shown:

[0071]

[0072] The variables in formula (1)...

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Abstract

The invention relates to a suspended load transportation flight control technology for a rotor unmanned aerial vehicle, which well suppresses the swinging of a suspended load in the flight while controlling the position of a four-rotor unmanned aerial vehicle under a condition that partial parameters of the system are unknown. The invention adopts a technical scheme that the control method for a suspension flight system of the four-rotor unmanned aerial vehicle based on an energy method comprises the steps of designing a Lyapunov equation based on an energy function method, and thus designinga controller to realize control for the unmanned aerial vehicle. Specifically, firstly stress analysis is respectively performed on the unmanned aerial vehicle and a suspended object in the suspensionflight process of the four-rotor unmanned aerial vehicle so as to acquire a nonlinear dynamic model of the suspension flight process of the four-rotor unmanned aerial vehicle. The nonlinear control method is mainly applied to suspended load transportation flight control of the rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a control method for a rotor UAV's hanging load transportation flight, in particular to a control method for a quadrotor UAV flying with an object in a hanging manner. Specifically, it involves a nonlinear control method for the suspension and transportation system of the rotor UAV. Background technique [0002] Quadrotor UAV is a multi-rotor aircraft. Micro UAVs have attracted widespread attention of researchers because of their important role in natural disasters, emergency rescue, police and military missions, agricultural fertilization and other fields. UAV suspension flight is an important way to realize the application of micro UAVs in various specific tasks. [0003] In recent years, the problem of unmanned aerial vehicles (UAVs) hanging and flying has attracted more and more attention from universities and research teams at home and abroad. At present, the relevant research work of domestic researchers is mostly aime...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10
Inventor 鲜斌杨森
Owner TIANJIN UNIV
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