Online planning method for shimmy damping track of unmanned aerial vehicle hanging flight transportation system

Abstract

The invention relates to accurate position control and rapid suppression of load swing of a four-rotor unmanned aerial vehicle hanging flight transportation system, and aims to provide an online trajectory planning method which is designed based on an original model which is not subjected to linearization processing. According to the trajectory planning method, the shimmy damping effect of a loadcan be achieved under the condition that no shimmy damping item exists in a controller, and the position control performance of the unmanned aerial vehicle cannot be affected. The invention relates tothe online planning method for a shimmy damping trajectory of the unmanned aerial vehicle hanging flight transportation system. The method comprises the steps of establishing a kinetic model of the four-rotor unmanned aerial vehicle hanging flight system; and 2) designing an expected trajectory of the unmanned aerial vehicle, designing a positioning part to guide the unmanned aerial vehicle to reach an expected position, and designing a shimmy damping part to suppress oscillation of the swing angle of the load. The method is mainly applied to control of the four-rotor unmanned aerial vehiclehanging flight transportation system.

Description

technical field [0001] The invention relates to precise position control of a four-rotor UAV hanging flight transportation system and fast suppression of load swing. Aiming at the constraints of underactuated and strong coupling characteristics of the system, an online generation method of the UAV's expected trajectory is proposed. Specifically, it involves the online planning method of the swing reduction trajectory of the UAV hanging flight transportation system. Background technique [0002] In recent years, quadrotor drones have been widely used in search and rescue, attack maneuvers, environmental monitoring and other fields, and researchers have carried out many related studies. The quadrotor UAV hanging flight system can use the quadrotor UAV to deliver goods to destinations that are difficult for people to reach, which is one of the important directions of quadrotor UAV application research. The control goal of the quadrotor UAV hanging flight system is to efficien...

AI Technical Summary

Problems solved by technology

In addition, the dynamic programming method needs to use a linearized model, and when the system deviates from the equilibrium point, the control performance will deteriorate

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