UAV circular path suspension transportation control method and system based on time-delay feedback

Abstract

The invention provides a control method for the UAV circular trajectory suspension transportation process. First, the dynamic equation of the circular trajectory suspension transportation process is established based on the first-order time-delay model of the multi-rotor UAV; the control system is designed for the system. , which includes time-delay feedback control, proportional control and feedforward control; then obtain the state space equation of the control system according to the system block diagram; The Lagrangian interpolation method writes the function value of each point as a linear combination of the function value of each sampling point, so as to obtain the transfer matrix of the system; finally, the spectral radius of the transfer matrix is ​​used as an index to find the stable region and optimal control parameters of the system . Using the control method of the invention can reduce the swing range of objects during the plane's circular trajectory suspension transportation process, increase the maximum circular flight speed of the aircraft, and improve the circular trajectory suspension transportation efficiency.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for controlling the suspension and transportation of unmanned aerial vehicles on a circular path based on time-delay feedback. Background technique [0002] Drones have many important applications, and transporting items over long distances is one of them. For the flight control of the UAV itself, there are many mature control methods, but the control of the suspension transportation process is still an important research direction. According to the different paths, the suspension transportation control of aircraft can be divided into the control of linear path suspension transportation and the control of circular path suspension transportation. The difference between the two is that the latter needs to consider centrifugal force, while the former does not. At present, there are two control methods used in the suspension transportatio...

AI Technical Summary

Problems solved by technology

The former has a certain control effect on the suspension transportation process of the aircraft circular path, but its control idea and parameter solution method are different from the traditional control; the latter uses the traditional feedback control idea and adds a time-delay link to the feedback loop for control. But the simple time-delay feedback control is only suitable for the control of suspension transport in straight path

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