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

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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Problems solved by technology

For such systems, the stability bounds are more difficult to determine, and therefore it is more difficult to achieve the goal of optimal control

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