Stability analysis and control method for unmanned aerial vehicle suspension transportation based on differential quadrature method

A differential quadrature and control method technology, applied in the field of unmanned aerial vehicles, can solve problems such as difficult to determine the stability boundary and difficult to achieve optimal control, and achieve the effect of improving flight performance

Active Publication Date: 2018-12-07
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

For such systems, the stability bounds are more difficult to determine,

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  • Stability analysis and control method for unmanned aerial vehicle suspension transportation based on differential quadrature method
  • Stability analysis and control method for unmanned aerial vehicle suspension transportation based on differential quadrature method
  • Stability analysis and control method for unmanned aerial vehicle suspension transportation based on differential quadrature method

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[0037] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0038] According to the differential quadrature method-based analysis and control method for the stability of UAV suspension transportation provided by the present invention, the method comprises the following steps:

[0039] Step 1: Determine the dynamic equation of the suspension system according to the physical characteristics of the suspension system;

[0040] Step 2: Approximately describe the dynamic response characteristics of the UAV body with a first-order time-delay system;

[0041] Step 3: D...

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Abstract

The invention provides a stability analysis and control method for unmanned aerial vehicle suspension transportation based on a differential quadrature method, which comprises: firstly establishing akinetic equation of a system based on feature parameters of a position loop control system and a suspension system of an unmanned aerial vehicle system; designing a delayed feedback system, and determining a state space equation of the system; and on this basis, introducing the differential quadrature method to obtain a transition matrix between two adjacent delayed segments, wherein the spectralradius of the transition matrix is smaller than one hour, the system gradually converges in the time domain. According to this basic principle, the stable boundary of the system can be obtained; then,within this stable boundary, the minimum speed convergence radius can be obtained by aiming at the minimum spectral radius. By adopting the above-mentioned stability domain determination and the optimal control parameter determination method, the optimal flight control strategy of the drone suspension transportation system can be quickly determined, thereby greatly improving the flight performance of the drone and generating good economic benefits.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for analyzing and controlling the stability of unmanned aerial vehicle suspension transportation based on a differential quadrature method. Background technique [0002] Among the many applications of drones, the flight of objects is an important function for them to effectively assist humans to quickly complete long-distance handling operations. At present, relatively mature research results have been obtained on the single flight control of UAVs, but for the situation with external mechanisms, the system shows time-lag characteristics. For such systems, the stability boundary is more difficult to determine, so it is also more difficult to achieve the goal of optimal control. To solve the above application problems, there are usually two solutions. One is to introduce input shaping to eliminate the input lag inherent in suspension-fly systems. The se...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 董伟丁烨盛鑫军朱向阳
Owner SHANGHAI JIAO TONG UNIV
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