Path planning and swing reduction control method of a four-rotor variable-rope length suspension system

A technology of path planning and control method, applied in the field of quadrotor control, can solve the problems of accuracy dependence of model establishment, low interference robustness, long time, etc., to improve transportation efficiency, ensure safety, and suppress swing. Effect

CN112817328BActive Publication Date: 2022-08-02QINGDAO TECHNOLOGICAL UNIVERSITY
6 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-08-02

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a path planning and swing reduction control method of a four-rotor variable-rope-length hanging system, comprising the following steps: establishing a mathematical model of the four-rotor and a swing model of the suspended load; The state of the rotor and the load is constrained, and the parameters of the spline curve are calculated according to the constraints to obtain the planned path; according to the obtained planned path, the minimum transit time that satisfies the constraints of the swing angle is obtained by using the bisection method; The level control method realizes the precise positioning of the load and the suppression of the swing angle of the load by tracking the planned path, and the load is delivered to the predetermined position in the shortest time. The method disclosed in the present invention enables the entire hoisting system to reach the desired position from the initial position in the shortest time by planning a suitable plane motion trajectory, while keeping the swing angle of the load within a small range, which not only improves the Transportation efficiency, but also to ensure the safety of transportation.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to a quadrotor control method, in particular to a path planning and swing reduction control method of a quadrotor variable-rope length suspension system. Background technique

[0002] In recent years, suspension controls for quadrotors have become a research hotspot and are widely used in commercial and scientific fields. Generally, manipulation devices are mainly divided into four types: grippers, manipulators, cables and others, and different manipulation devices are suitable for different application scenarios. The single-degree-of-freedom gripper is the most widely used manipulation device, which is mounted directly on or under the fuselage of a quadrotor UAV. This manipulator has three advantages: (1) it is easy to manufacture, (2) it is convenient to model and control, and (3) it is relatively inexpensive to manufacture. The manipulator mainly consists of two parts: one or more multi-DOF arms attached to the drone body and...

Examples

Embodiment 1

[0208] Setting parameters: quadrotor mass M=1.4kg, load mass m=0.25kg, gravitational acceleration g=9.81m / s 2 , the moment of inertia J x =0.0087kg m 2 , J y =0.0087kg m 2 , J z =0.016kg m 2 , J r =9.89e-5kg m 2, the length of the sling changes with time as L=1+0.1t m, the distance between the motor and the center of the quadrotor is d=0.18m, and the initial position of the quadrotor is [x r0 ,y r0 ,z r0 ]=[0,0,0], the desired position is [x r ,y r ,z r ]=[3,4,5], the upper and lower limits of the transportation time T are respectively T l =4s, T u =7s, limit the maximum swing angle to α max =β max =0.3rad, the maximum swing rate is The T value calculated by dichotomy was 5.0313.

[0209] The quadrotor reference trajectory calculated according to the above method is:

[0210]

[0211]

[0212] Simulation experiment: use matlab for simulation analysis, see the simulation results Figure 5-Figure 12 . The results show that the quadrotor can carry the l...