A flying hoisting system accompanied by load lifting and its control method

Abstract

The invention provides a flight hoisting system accompanied by load lifting and its control method. The flight hoisting system is modeled, and the energy storage function of the system is constructed; a nonlinear controller is constructed based on the energy storage function, and the nonlinear The controller is configured to take the dual goals of UAV positioning, sling length adjustment, and load swing elimination as the control goals; according to the measured values ​​of the UAV pose and load swing conditions, combined with the nonlinear controller structure, the non-linear controller structure is determined. Actual input signal to the linear controller; based on the actual input signal, the non-linear controller performs drone positioning and rope length adjustment and load swing cancellation. The invention realizes the tracking of the position and the length of the rope of the drone and the elimination of the swing of the load, and can make the flying hoisting system applicable to more complicated scenes.

Description

technical field [0001] The invention belongs to the technical field of flight lifting system control, and in particular relates to a flying lifting system with load lifting and lowering and a control method thereof. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] There are currently three main methods of air transportation for multi-rotor UAVs: grasping by hand, manipulator manipulation, and rope hanging. When multi-rotor drones use grippers or robotic arms to carry different objects, important flight parameters such as moment of inertia and center of mass will change. And due to the limited working space, it is difficult to transport large goods by the two methods of grasping by hand and manipulating by robotic arm. In addition, the mechanical construction of the gripper and the arm is very complex and expensive. Therefore, when using ...

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Problems solved by technology

Chinese invention patents CN111176318A and CN110376890A provide consideration of the problem of the swing of the suspension rope caused by the load, which causes the dynamic change of the control state of the flight hoisting system, which can better eliminate the stability problem caused by the swing. The introduction of the length of the adjustable rope during the transportation of the flight system, for example, when it is necessary to pass through a window-shaped obstacle, the height of the entire system is reduced by shortening the length of the suspension rope to pass through obstacles smoothly, and in sea sampling missions, due to There are some uncertainties on the sea surface. While keeping a certain distance between the drone and the sea surface, extend the sling to sample the water body

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