Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Quad-rotor unmanned aerial vehicle hanging flight system control method based on energy method

A technology of quadrotor UAV and quadrotor aircraft, which is applied in the direction of non-electric variable control, attitude control, control/adjustment system, etc., can solve the problems such as stability analysis and convergence proof that are not given, and achieve good swing reduction effect of effect

Inactive Publication Date: 2020-04-24
TIANJIN UNIV
View PDF4 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the paper does not give a more rigorous stability analysis and proof of convergence

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Quad-rotor unmanned aerial vehicle hanging flight system control method based on energy method
  • Quad-rotor unmanned aerial vehicle hanging flight system control method based on energy method
  • Quad-rotor unmanned aerial vehicle hanging flight system control method based on energy method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0048] The technical problem to be solved by the present invention is to propose a nonlinear controller based on the energy method, which can control the position of the quadrotor UAV while better suppressing the swing of the hanging load in flight.

[0049] The technical scheme adopted in the present invention is: design the Lyapunov equation based on the energy function method, and then design the controller to realize the control target, including the following steps:

[0050] Firstly, the force analysis of the UAV and the hanging object during the hanging flight of the quadrotor UAV is carried out separately, so as to obtain the nonlinear dynamic model of the hanging flight process of the quadrotor UAV:

[0051]

[0052] The variables in formula (1) are defined as follows: m Q and m L are the mass of the quadrotor UAV and the load, L is the length of the rope, γ is the angle between the rope and the vertical direction, g is the acceleration of gravity, (x Q ,z Q ) is...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to control of load flight of a quad-rotor unmanned aerial vehicle, and provides a nonlinear controller based on an energy method, and position control of the quad-rotor unmannedaerial vehicle is realized while swing of a suspended load in flight is effectively inhibited. Concretely, the invention discloses a quad-rotor unmanned aerial vehicle hanging flight system control method based on an energy method. The method is implemented on an unmanned aerial vehicle provided with a lifting rope used for lifting objects. The method comprises the following steps: a nonlinear kinetic model of a flight process is established, a controller is designed, a Lyapunov equation is designed based on an energy function method, it is proved through a Lyapunov analysis method and a Lessel invariant set theory that the proposed controller enables the quad-rotor unmanned aerial vehicle to converge to a target position in an asymptotic mode, meanwhile, the swing angle converges to 0 inthe asymptotic mode, and then unmanned aerial vehicle control is achieved. The method is mainly applied to load flight control of the quad-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a control method for a four-rotor UAV to fly with a load, in particular to a control method for a four-rotor UAV to fly with an object in a hanging manner. Background technique [0002] Quadrotor UAV is a multi-rotor aircraft. Micro UAVs have attracted widespread attention of researchers because of their important role in natural disasters, emergency rescue, police and military missions, agricultural fertilization and other fields. UAV suspension flight is an important way to realize the application of micro UAVs in various specific tasks. [0003] In recent years, the problem of unmanned aerial vehicles (UAVs) hanging and flying has attracted more and more attention from universities and research teams at home and abroad. At present, the relevant research work of domestic researchers is mostly aimed at the operational control performance issues for the pilot during the suspension flight of the full-scale helicopter, and the ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 鲜斌杨森
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com