A hovering control method for quadrotor UAV with suspension load based on state observation
A four-rotor UAV, quad-rotor UAV hanging technology, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve the problem of difficulty in large-scale application, no quantitative analysis of hanging loads Problems such as limited improvement of hovering flight performance of rotary-wing UAV and quad-rotor UAV
Active Publication Date: 2020-08-25
BEIHANG UNIV
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Problems solved by technology
At the same time, the quadrotor UAV is a high-order, nonlinear, and critically stable complex system, and the addition of hanging loads will make the system more complex
When the quadrotor UAV is flying with the load suspended, the swing of the load will introduce additional disturbances, which will destroy the stability of the quadrotor UAV
The main problem is that the former does not quantitatively analyze the effect of the swing of the hanging load on the quadrotor UAV, and has limited effects on the swing suppression of the hanging load and the improvement of the hovering flight performance of the quadrotor UAV; while the latter is difficult. Large-scale application in actual flight scenarios
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[0164] Below each part design method in the present invention is further described:
[0165] The present invention "a hovering control method for a four-rotor unmanned aerial vehicle with a hanging load based on state observation", such as figure 2 As shown, the specific steps are as follows:
[0166] Step 1: Kinematics and dynamics model establishment
[0167] The kinematic equation of the quadrotor UAV is
[0168]
[0169] in, yes The velocity vector of the quadrotor UAV in the coordinate system, yes The angular velocity vector of the attitude of the quadrotor UAV in the coordinate system, γ=[φ θ ψ] T yes The attitude vector of the quadrotor UAV in the coordinate system, φ, θ and ψ are respectively The roll angle, pitch angle and yaw angle of the quadrotor UAV in the coordinate system, and ω=[p q r] T respectively The velocity vector and the angular velocity vector of the attitude of the quadrotor UAV in the coordinate system.
[0170] The dynamic equ...
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The invention discloses a hovering control method for a quadrotor unmanned aerial vehicle with hanging load based on state observation. The method comprises the steps of (1), establishing kinematic and dynamic models of the quadrotor unmanned aerial vehicle, hanging load and a quadrotor unmanned aerial vehicle hanging system; (2), establishing a linear quadrotor unmanned aerial vehicle hanging system state space model, and designing a dimension reduction state observer for a swing angle and swing angular velocity of the hanging load, thereby obtaining state observation values of the swing angle and the swing angular velocity of the hanging load; (3), computing horizontal disturbing force acting on the quadrotor unmanned aerial vehicle, wherein the horizontal disturbing force results from swing of the hanging load, and computing horizontal additional power and corresponding attitude change quantity required for cancelling the horizontal disturbing force; and (4), designing a state feedback controller, computing control input quantity of the unmanned aerial vehicle, and enabling the quadrotor unmanned aerial vehicle hanging system to be stabilized. According to the method, under thecondition that no sensor is additionally added, automatic hovering control over the quadrotor unmanned aerial vehicle with the hanging load is realized, and the swing of the hanging load is inhibited.
Description
technical field [0001] The present invention provides a hovering control method for a four-rotor unmanned aerial vehicle with a suspended load based on state observation, and in particular provides a method for the four-rotor unmanned aerial vehicle to carry a certain mass of suspended load and the swing angle of the suspended load cannot be directly measured. A new control method for stabilizing the suspension system of a quadrotor UAV belongs to the field of UAV automatic control technology. Background technique [0002] Quadrotor drone is a multi-rotor unmanned aerial vehicle that is widely used today. It has simple mechanical structure, high maneuverability and can take off and land vertically, so it is widely used in aerial photography, transportation, detection and other activities, which are closely related to the suspended load it carries. At the same time, the quadrotor UAV is a high-order, nonlinear, and critically stable complex system, and the addition of hangin...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 任星宇诸兵袁肖卓尔李昀
Owner BEIHANG UNIV