Unmanned aerial vehicle hanging load control method utilizing tether rotor coordination

A multi-rotor UAV, quad-rotor UAV technology, applied in attitude control, non-electric variable control, control/adjustment system and other directions, can solve the problem of not taking into account the position and attitude of the multi-rotor UAV hanging system Errors, 3D models are not considered, etc., to improve efficiency, improve task completion speed, and reduce tether retraction time

Active Publication Date: 2020-05-22
NORTHWESTERN POLYTECHNICAL UNIV
View PDF7 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned method of using trajectory planning and controller design largely utilizes the propeller thrust of the multi-rotor UAV. , it will conflict with the position and attitude control requirements of the multi-rotor UAV, causing the multi-rotor UAV suspension system to generate large position and attitude errors during flight.
In addition, the research objects of the above articles are all simplified two-dimensional models, without considering the three-dimensional model
Moreover, none of the above articles considered the need to realize the retraction and release of the tether to control the length of the tether during the flight in order to realize the rapid grabbing and release of the hanging load during the flight of the UAV, and the use of the tether Retractable to improve the ability of tether swing suppression

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
  • Unmanned aerial vehicle hanging load control method utilizing tether rotor coordination
  • Unmanned aerial vehicle hanging load control method utilizing tether rotor coordination
  • Unmanned aerial vehicle hanging load control method utilizing tether rotor coordination

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] see figure 1 — figure 2 , the technical scheme adopted in the present invention comprises the following steps:

[0040] Step 1: Establish a three-dimensional dynamic model of the multi-rotor UAV suspension system with tether retractable motion

[0041] Assumptions: 1. Since the tether is always in a tight state during the movement, the elasticity, flexibility and quality of the tether are ignored;

[0042] 2. Ignore the posture of the suspended load, and regard the suspended load as a mass point;

[0043] 3. Since the attitude of the UAV is individually controllable, the attitude control of the UAV is ignored;

[0044] 4. The connection point between the tether and the multi-rotor UAV coincides with the center of mass of the UAV.

[0045] The process of UAV hanging flight movement is attached figure 1 As shown, 1 is the multi-rotor UAV, 2 is the tether, 3 is the hanging load, and 4 is the inertial coordinate system. Oxyz is the inertial coordinate system, O 1 x ...

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 an unmanned aerial vehicle hanging load control method utilizing tether rotor coordination. Tether swinging is inhibited by utilizing a tether winding and unwinding device arranged on the multi-rotor unmanned aerial vehicle and the propeller thrust of a multi-rotor unmanned aerial vehicle, meanwhile, the tether length is controlled, and tether swinging inhibition is rapider by utilizing the tether winding and unwinding and the unmanned aerial vehicle thrust coordination control. Tether length control is achieved in the moving process of the unmanned aerial vehicle hanging system, the grabbing and releasing speed of hanging loads is increased, and high practicability is achieved.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle hanging flight control, and in particular relates to a tether swing suppression and rope length control method using unmanned aerial vehicle thrust and tether retraction for coordinated control during the unmanned aerial vehicle hanging flight process. Background technique [0002] With the rapid development of multi-rotor drone technology, multi-rotor drones have been used in many military and civil fields such as natural disasters, high-altitude reconnaissance in police and military missions, agricultural plant protection, express delivery, and cargo transportation. Among them, the use of multi-rotor drones to install ropes to hang goods for transportation is an effective means of goods transportation. At the same time, due to the rapidity of the UAV hanging system for transporting goods and its adaptability to a variety of complex transportation environments, the UAV hanging flight has at...

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
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 孟中杰白宇彤陈志亮黄攀峰张夷斋
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap