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Load generalized displacement-based nonlinear self-adaptive control method for double-unmanned aerial vehicle hoisting system

A technology of self-adaptive control and self-adaptive controller, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problem of load swing, multi-UAV air resistance is not taken into account, and the model construction is not accurate enough and other problems to achieve the effect of eliminating residual wobble

Active Publication Date: 2021-10-01
NANKAI UNIV
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Problems solved by technology

[0004] Through the review of the multi-UAV lifting system, it can be seen that although there have been preliminary researches on the control of the multi-UAV lifting system, the current method is not accurate enough for the model construction of the multi-UAV lifting system. Approximate assumptions exist, and air resistance on multi-UAVs is mostly not taken into account
In addition, during the delivery of the load, the movement of the aircraft will cause the load to swing unnecessarily, which is extremely challenging to complete the task of smooth and safe delivery

Method used

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  • Load generalized displacement-based nonlinear self-adaptive control method for double-unmanned aerial vehicle hoisting system
  • Load generalized displacement-based nonlinear self-adaptive control method for double-unmanned aerial vehicle hoisting system
  • Load generalized displacement-based nonlinear self-adaptive control method for double-unmanned aerial vehicle hoisting system

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Embodiment 1

[0043] This embodiment discloses a non-linear adaptive control method for a dual UAV hoisting system based on the generalized displacement of the load. The process of the method is shown in figure 1 ,include:

[0044] First, based on the planar dynamic model of the double UAV lifting the rod-shaped load, the construction of the energy storage function of the system is completed;

[0045] Next, a nonlinear adaptive controller is designed based on the constructed energy storage function. Specifically, the coupling term of the load swing angle is introduced to improve the system's ability to suppress the load swing. At the same time, considering the influence of air resistance, an adaptive term is introduced to estimate The influence of air resistance on the system; the nonlinear adaptive controller obtained according to the above steps can ensure that the system achieves the goals of aircraft positioning and load swing suppression;

[0046] Further, combined with the form of th...

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Abstract

The invention discloses a load generalized displacement-based nonlinear self-adaptive control method for a double-unmanned aerial vehicle hoisting system, and belongs to the field of electromechanical system control. The method comprises the step of providing a novel nonlinear adaptive control method without linearization and other simplified operations according to a two-dimensional plane model of a system. According to the method, the air resistance borne by the aircraft is considered, and meanwhile, load swing angle state coupling is introduced, so that the suppression of load swing is accelerated on the basis of ensuring that the aircraft positioning task is completed. Experimental results show that the scheme has good performance in the aspects of inhibiting load swing and rapidly completing an aircraft positioning task.

Description

technical field [0001] The invention belongs to the technical field of automatic control of non-linear underactuated electromechanical systems, and can effectively control the double UAV hoisting system with extremely complex dynamic models. Background technique [0002] In recent years, rotor UAVs have been widely used in military and civilian fields due to their advantages such as strong maneuverability, simple structure, and vertical take-off and landing. As an important application of rotorcraft, the air transport task has aroused people's widespread attention. The dual-UAV air transportation method discussed in the present invention refers to two UAVs connecting rod-shaped loads through slings to complete the lifting task. The use of multiple rotor UAVs for load transportation can effectively solve the problem of the limited carrying capacity of a single UAV. [0003] Some interesting and meaningful research has been done on the multi-UAV delivery problem. Chen et al...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 梁潇韩建达柴毅仰智超邓壬鑫
Owner NANKAI UNIV
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