A Design Method of Control System of Flying Robot Carrying Redundant Manipulator

Abstract

The invention discloses a design method of a control system of a flying robot carrying a redundancy mechanical arm. The design method is used for achieving the design of a six-rotor aircraft self-adaptive stabilized flight controller and a redundancy mechanical arm controller, and mainly comprises the following steps that dynamics modeling is conducted on the flying robot carrying the redundancy mechanical arm according to the flight real-time operation data; then a position controller, a height controller and a posture controller are designed according to a modeling equation, and trajectory tracking treatment is conducted by use of a pushback method based on the liapunov stability theory; self-adaptive treatment is conducted, and therefore the design of the aircraft self-adaptive stabilized flight controller can be accomplished; and the mechanical arm motion planning scheme design and the quadratic programming design are adopted by the redundancy mechanical arm motion planning controller. The self-adaptive pushback design method can rapidly and accurately track the target trajectory of an aircraft in real time, and improves the robustness and the stability of the system.

Description

technical field [0001] The invention belongs to the field of flying robot control system design, in particular to a design method of a flying robot control system with redundant mechanical arms based on adaptive pushback design. Background technique [0002] In recent years, countries all over the world are vigorously developing multi-rotor aircraft, which have been widely used in both military and civilian applications. Compared with traditional aircraft, multi-rotor aircraft has the advantages of smaller size, lower cost, strong maneuverability, fixed-point hovering, vertical take-off and landing, and flying in various attitudes. It can be used in military affairs with high efficiency. It is used for reconnaissance and surveillance, etc., and for civilian use, such as power line inspection. With the rapid development of drone technology, radar, laser, sonar and other instruments and equipment can be equipped on drones to complete specific tasks. With the advancement of ro...

AI Technical Summary

Problems solved by technology

Due to the influence of the complexity of the actual application environment and the diversity of task conditions, the traditional UAV controller designed based on the PID closed-loop control algorithm and the corresponding improved control algorithm is gradually difficult to meet people's expectations.

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