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
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Problems solved by technology

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

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  • 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

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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...

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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

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 鲜斌杨森
Owner TIANJIN UNIV
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