Anti-disturbance rotor unmanned aerial vehicle load-carrying system roll control method and device

Abstract

The application relates to a disturbance-resistant rotor unmanned aerial vehicle load-carrying system stabilization control method and device, wherein the method comprises the following steps: establishing a dynamic model of a four-rotor unmanned aerial vehicle load-carrying system based on Newton's law of motion and the position relationship between the load and the unmanned aerial vehicle; based on the dynamic model, using a backstepping method to construct a controller, sequentially controlling the load position, the cable direction and the unmanned aerial vehicle attitude, and in the control process, separating the known estimated value from the unknown estimated error part in the external disturbance, establishing a Lyapunov function containing the disturbance estimated error in the last step of the backstepping method, so as to obtain the expected thrust and the angular velocity of the unmanned aerial vehicle, and control the load movement. Compared with the prior art, the application has the advantages.

Description

Technical Field

[0001] This invention relates to the field of automatic control for load transportation, and in particular to a method and apparatus for reducing sway in a rotorcraft unmanned aerial vehicle (UAV) sling system that is resistant to disturbances. Background Technology

[0002] Unmanned aerial vehicles (UAVs) include various types such as fixed-wing UAVs, single-rotor UAVs, and multi-rotor UAVs, among which quadcopter UAVs have seen rapid development in recent years. Quadcopter UAVs possess advantages such as simple mechanical structure and high flexibility, leading to their widespread application in industrial, agricultural, consumer, and military fields. Quadcopter UAVs can serve as platforms for aerial payload transport, carrying payloads in two ways: clamping and slinging. Clamping involves a direct, rigid connection between the payload and the UAV, while slinging connects the payload via a cable. With clamping, the payload is closer to the UAV's center of gravity, but the UAV's flexibility is somewhat reduced. Slinging slings simplify the connection between the UAV and payload, increasing payload carrying flexibility and reducing the adverse effects of the UAV's rotational inertia. However, slinging the payload via a cable increases the system's underactuation, making motion control of both the UAV and payload more difficult. Quadcopter slinging is currently used in geographic surveying and material transport, and has broad application prospects in many more fields in the future.

[0003] Currently, there is considerable research both domestically and internationally on sway suppression for rotary-wing UAV payload systems, mainly including model-simplified control, nonlinear control, and robust linear control. However, these methods all have certain limitations. Some studies simplify the model to reduce system complexity, but in practical applications, model simplification can lead to differences in control performance under different external conditions, resulting in poor robustness under uncertain conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a disturbance-resistant rotary-wing UAV load-carrying system anti-sway control method and device, to achieve disturbance-resistant sway control during the load-carrying process of a quadcopter UAV, so that the load can move with high precision along the desired trajectory in the presence of external disturbances.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] The basic structure of the quadcopter UAV sling load system includes a quadcopter UAV, a payload, cables, and related mechanical components. This system is an eight-degree-of-freedom system, with the number of degrees of freedom exceeding the number of system inputs, thus exhibiting underactuated characteristics. This invention uses Newton's laws of kinematics and the positional relationship between the payload and the fuselage to model the entire system.

[0007] The control objective of this invention is to make the load move along a desired trajectory; therefore, the load is treated as the controlled object. Due to the underactuated nature of the system, the load's movement is ultimately controlled by controlling the attitude of the UAV and the thrust of its rotor. In establishing the model for this invention, the following three assumptions are made about the system: First, the UAV fuselage is a rigid body, and the load is a point mass. Second, the cable used for slinging is a fixed-length, inelastic rope. Third, the disturbance experienced by the system is a constant with a known upper bound.

[0008] Based on the above description, the present invention provides a method for reducing sway in a disturbance-resistant rotary-wing unmanned aerial vehicle (UAV) payload system, comprising the following steps:

[0009] S1: Establish a dynamic model of the quadrotor UAV sling load system based on Newton's laws of kinematics and the positional relationship between the load and the UAV;

[0010] S2: Based on the dynamic model, a controller is constructed using the backstepping method to control the load position, cable direction, and UAV attitude in sequence. At the same time, during the control process, the known estimated value and the unknown estimation error part of the external disturbance are separated. In the last step of the backstepping method, a Lyapunov function containing the disturbance estimation error is established to obtain the desired thrust and the angular velocity of the UAV, thereby controlling the load movement.

[0011] This invention considers the influence of external disturbances in the establishment of the dynamic model of the quadcopter UAV's payload system. The disturbance is introduced as a three-dimensional vector into Newton's kinematic equations, and different disturbances experienced by the UAV fuselage are addressed. Specifically, this invention incorporates the disturbance into the backstepping method, separating the known and unknown estimation error components of the disturbance quantity during backstepping control. The estimated value of the disturbance quantity is included in the control law, and a new Lyapunov function is established based on the disturbance term, thereby determining the update law for the disturbance estimate.

[0012] The model of the quadcopter UAV carrying system is a rigid body driven by external forces, thrust, and torque, with six degrees of freedom. Its establishment involves two coordinate systems: a volume coordinate system fixed to the body, denoted as {B}, with its origin connected to the UAV's center of mass; and an inertial coordinate system, denoted as {I}, with the rotation matrix R from {B} to {I}. The mass of the quadcopter UAV is m. Q Position and velocity are represented as p in {I}. Q and v Q The angular velocity in {B} is Ω.

[0013] The load is modeled as a two-degree-of-freedom point mass with mass m. L The position and velocity in the inertial frame are p, respectively. L and v L .

[0014] The process of constructing the dynamic model of the quadcopter unmanned aerial vehicle system is as follows:

[0015] S11: In the process of constructing the dynamic model, the symbol S(·) is defined as... arrive A mapping, S(x)y = x × y, P q and Π q For a pair of orthogonal projection operations, P q =qq T Π q =I-qq T =-S(q) 2 ;

[0016] S12: The payload and the drone are connected by a non-elastic cable of length l. The cable remains taut throughout system operation, therefore the distance between the drone and the payload is constant. The positional relationship between the drone and the payload is expressed as follows:

[0017] lq = p L -p Q (1)

[0018] Where q is a unit vector pointing from the fuselage to the load;

[0019] S13: The load undergoes circular motion around the center of mass of the machine body, with an angular velocity of ω in the inertial coordinate system. The load then has the following kinematic equations:

[0020]

[0021] S14: Determining the translational description of the UAV sling load system using Newton's laws of motion:

[0022]

[0023]

[0024]

[0025]

[0026] In equation (5), the scalar T represents the total thrust generated by all the rotors of the UAV. L Let e3 be the magnitude of the rope tension, and e3 = [0 0 1]. T g is the acceleration due to gravity, b Q External disturbances experienced by the drone;

[0027] S15: Determine the drone's rotation description:

[0028]

[0029] S16: By taking the second derivative of q from equations (1) and (2), we get:

[0030]

[0031] By subtracting equations (5) and (6) after transformation, we obtain:

[0032]

[0033] S17: The equation (9) Substituting the expression into equation (8) and multiplying both sides by S(q), and letting F = -TRe3, we get equation (10). Substituting equation (10) into equation (7), we get equation (11):

[0034]

[0035]

[0036] S18: Composed of (5) + (6) and get:

[0037]

[0038] S19: Determine the dynamic equations of the quadcopter UAV sling load system:

[0039]

[0040] The virtual thrust F is introduced in S2. d F d In P q The directional component controls the position of the load, in Π q The directional component controls the direction of the cable.

[0041] The controller design process is divided into three parts: load position control, cable direction control, and UAV attitude control. A virtual force F is set in the load position control. q To obtain the desired cable direction, and simultaneously obtain F d In P q The component in direction; the second step controls the direction of the cable, while obtaining F. d In P q The third step is to control the thrust in the desired direction by setting the angular velocity Ω of the drone.

[0042] The load position control is as follows:

[0043] The desired trajectory of the load motion is The control target is the load position p. LTo accurately track the desired trajectory, we first define two types of load errors:

[0044]

[0045]

[0046] Wherein, equation (14) represents the position error and equation (15) represents the velocity error;

[0047] Based on the dynamic model of the UAV hoisting system, we obtain:

[0048]

[0049]

[0050] The first Lyapunov is given by equation (18):

[0051]

[0052] Differentiate V1 and substitute equations (16) and (17) into the equations, while also considering the feedback quantity u. * =-k p z p -k v z v Perform addition and subtraction operations;

[0053] make Since the disturbance is unknown, the disturbance term is divided into two parts: the estimated value and the estimation error, resulting in the following derivative of V1:

[0054]

[0055] Define virtual force F q for:

[0056]

[0057] Since the thrust F is restricted to a direction parallel to q, when F q When the direction of the cable is the same as q, it can be completely canceled out by the thrust. Therefore, the ideal direction of the cable is defined as F. q The direction, that is:

[0058]

[0059] Substituting equation (20) into equation (19), we get:

[0060]

[0061] Then the virtual thrust F d The component in the q direction is defined as

[0062]

[0063] Substituting into equation (22), we get The final form:

[0064]

[0065] The cable direction control is as follows:

[0066] To ensure the cable's direction reaches the defined ideal direction, the cable's direction error is defined as a function of the second Lyapunov function:

[0067] z q =qq d (25)

[0068]

[0069] Differentiating equation (21), and then from get:

[0070]

[0071] Differentiate equation (20) and let F = F d ,get

[0072]

[0073] remember Substituting into (27) and further proposing the disturbance estimation error, we get:

[0074]

[0075] Define the desired load angular velocity as ω d The angular velocity error is z ω :

[0076]

[0077] z ω =S(q)(ω-ω d (31)

[0078] z ω and Substituting into equation (29), we get New format:

[0079]

[0080] Where W2 is:

[0081]

[0082] Considering the angular velocity error defined in (31), we obtain the third Lyapunov equation:

[0083]

[0084] Since the derivative of V3 contains z ω The derivative of (31) needs to be derived first:

[0085]

[0086] Will Substituting the derivative of V3, By separating the known and unknown quantities of the disturbance, the component of the desired thrust in the direction perpendicular to the rope is obtained as follows:

[0087]

[0088] in, For use When estimating disturbances The estimated value;

[0089] according to The linear relationship with the disturbance yields:

[0090]

[0091] The desired thrust is ultimately obtained as follows:

[0092] F d =P q (F d )+Π q (F d (38)

[0093] The attitude control of the UAV is as follows:

[0094] To drive the thrust in the desired direction, a final backstepping process is performed;

[0095] If we represent the rotation matrix using column vectors, R = [r1 r2 r3], then the actual thrust direction is r3 = Re3, and the desired thrust direction is... The error in the direction of thrust is defined as:

[0096]

[0097] The new Lyapunov function is then defined as:

[0098]

[0099] Differentiating the Lyapunov function, we get

[0100]

[0101] in It is a positive definite function;

[0102] In equation (38), It contains unknown quantities that include disturbances;

[0103] To indicate The linear relationship with the disturbance will It can be broken down into the following forms:

[0104]

[0105] in This indicates the result obtained after substituting the estimate of the disturbance. The estimated value;

[0106] Introducing the estimation error of the disturbance into the Lyapunov function, we get:

[0107]

[0108] Where Λ is a positive definite diagonal matrix; taking the derivative of this function, we get:

[0109]

[0110] Will and Substituting the expression into equation (41), we get The final form is:

[0111]

[0112]

[0113] The coefficient matrix of the disturbance term is as follows:

[0114]

[0115] To eliminate the second term in the above equation, the angular velocity setting value for the UAV can be obtained as follows:

[0116]

[0117] A disturbance-resistant rotary-wing unmanned aerial vehicle (UAV) sling control device includes a memory, a processor, and a program stored in the memory. When the processor executes the program, it implements the method described above.

[0118] Compared with the prior art, the present invention has the following beneficial effects:

[0119] This invention considers the impact of external disturbances on the system. To eliminate the influence of unknown external disturbances on the system, a disturbance estimate is introduced, and the unknowns in the disturbance are separated during the design of the backstepping controller. This can ensure the stability of the system in the presence of finite disturbances, achieve high-precision tracking of the load to the desired trajectory, and solve the problem of load sway reduction control under interference environment. Attached Figure Description

[0120] Figure 1 This is a flowchart of the method of the present invention;

[0121] Figure 2 This is a schematic diagram showing the positional relationships of the quadcopter drone's sling load system.

[0122] Figure 3 A schematic diagram of the circular motion of a weight;

[0123] Figure 4 This is a force analysis diagram of the quadcopter UAV sling load system. Detailed Implementation

[0124] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0125] This invention focuses on a quadcopter unmanned aerial vehicle (UAV) payload system. The UAV and payload are considered as a rigid body and a point mass, respectively, connected by an inelastic cable. Based on Newton's laws of motion and the positional relationships between the system's components, a system dynamics model is first established, where the UAV is subjected to external disturbances. Based on this model, a controller is designed using the backstepping method to obtain the UAV's thrust and angular velocity, driving the payload to track the desired trajectory. The controller design mainly includes three parts: payload position control, cable direction control, and UAV attitude control. To eliminate the influence of unknown external disturbances on the system, a disturbance estimate is introduced, and the unknown quantities in the disturbance are separated during the design of the backstepping controller, ensuring that the control law includes the estimated values ​​of the disturbance, thereby guaranteeing the system's stability.

[0126] Specifically, this embodiment provides a disturbance-resistant rotary-wing UAV sling load system anti-roll control method, such as... Figure 1 As shown, it includes the following steps:

[0127] S1: A dynamic model of the quadcopter UAV sling system is established based on Newton's laws of kinematics and the positional relationship between the load and the UAV.

[0128] In this embodiment, the influence of external disturbances is considered in the establishment of the dynamic model of the quadcopter UAV carrying system. The disturbance is introduced as a three-dimensional vector into Newton's kinematic equations, and different disturbances experienced by the UAV fuselage are processed.

[0129] The model of the quadcopter UAV emplacement system is a rigid body driven by external forces, thrust, and torque, with six degrees of freedom, such as... Figure 2 As shown, its establishment involves two coordinate systems: a volume coordinate system fixed to the body, denoted as {B}, with its origin connected to the UAV's center of mass; and an inertial coordinate system, {I}, with the rotation matrix from {B} to {I} being R. The mass of the quadcopter UAV is m. Q Position and velocity are represented as p in {I}. Q and v Q The angular velocity in {B} is Ω.

[0130] The load is modeled as a two-degree-of-freedom point mass with mass m. L The position and velocity in the inertial frame are p, respectively. L and v L .

[0131] S11: In the process of constructing the dynamic model, the symbol S(·) is defined as... arrive A mapping, S(x)y = x × y, P q and Π q For a pair of orthogonal projection operations, P q =qq T Π q =I-qq T =-S(q) 2 .

[0132] S12: The payload and the drone are connected by a non-elastic cable of length l. The cable remains taut throughout system operation, therefore the distance between the drone and the payload is constant. The positional relationship between the drone and the payload is expressed as:

[0133] lq = p L -p Q (1)

[0134] Where q is a unit vector pointing from the fuselage to the load.

[0135] S13: As Figure 3 As shown, the load undergoes circular motion around the center of mass of the machine body, with an angular velocity of ω in the inertial coordinate system. The load then has the following kinematic equations:

[0136]

[0137] S14: Determining the translational description of the UAV sling load system using Newton's laws of motion:

[0138]

[0139]

[0140]

[0141]

[0142] In equation (5), the scalar T represents the total thrust generated by all the rotors of the UAV. L Let e3 be the magnitude of the rope tension, and e3 = [0 0 1]. T g is the acceleration due to gravity, b Q External disturbances experienced by the drone.

[0143] S15: Determine the drone's rotation description:

[0144]

[0145] S16: By taking the second derivative of q from equations (1) and (2), we get:

[0146]

[0147] By subtracting equations (5) and (6) after transformation, we obtain:

[0148]

[0149] S17: The equation (9) Substituting the expression into equation (8) and multiplying both sides by S(q), and letting F = -TRe3, we get equation (10). Substituting equation (10) into equation (7), we get equation (11):

[0150]

[0151]

[0152] S18: Composed of (5) + (6) and get:

[0153]

[0154] S19: Determine the dynamic equations of the quadcopter UAV sling load system:

[0155]

[0156] S2: Based on the above dynamic model, a controller is constructed using the backstepping method to control the load position, cable direction, and UAV attitude in sequence. At the same time, during the control process, the known estimated value and the unknown estimation error part of the external disturbance are separated. In the last step of the backstepping method, a Lyapunov function containing the disturbance estimation error is established to obtain the desired thrust and the angular velocity of the UAV, thereby controlling the load movement.

[0157] Since conventional backstepping methods are not well applied to underactuated systems, this invention improves the backstepping process by introducing disturbances into the backstepping method. During the backstepping control process, the known and unknown estimation error parts of the disturbance are separated, the estimated value of the disturbance is included in the control law, and a new Lyapunov function is established based on the disturbance term, thereby determining the update law for the disturbance estimate.

[0158] From the dynamic equations of the quadcopter UAV sling load system, it can be seen that the position of the load and the angle of the cable can be determined by the thrust at P. q and Π q Two-way force control. However, due to the underactuated nature of the system, the thrust direction cannot be directly set; it needs to be controlled by manipulating the UAV's attitude to achieve the desired thrust direction. Therefore, a virtual thrust F is introduced. d F d In P q The directional component controls the position of the load, in Π q The directional component controls the cable's direction. The overall controller design process is divided into three parts: load position control, cable direction control, and UAV attitude control. A virtual force F is set in the load position control. q Furthermore, the desired cable direction is obtained, and F is also obtained. d In P q The directional component. The second step controls the direction of the cable, simultaneously obtaining F. d In P q The third step involves controlling the thrust in the desired direction by setting the drone's angular velocity Ω.

[0159] S21: Load position control

[0160] The desired trajectory of the load motion is The target of control is the position p of the load. L To accurately track the desired trajectory, we first define two types of load errors:

[0161]

[0162]

[0163] Equation (14) represents the position error, and equation (15) represents the velocity error.

[0164] Based on the dynamic model of the UAV hoisting system, we obtain:

[0165]

[0166]

[0167] The first Lyapunov is given by equation (18):

[0168]

[0169] Differentiate V1 and substitute equations (16) and (17) into the equations, while also considering the feedback quantity u. * =-k p z p -k v z v Perform addition and subtraction operations.

[0170] make Since the disturbance is unknown, the disturbance term is divided into two parts: the estimated value and the estimation error, resulting in the following derivative of V1:

[0171]

[0172] Define virtual force F q for:

[0173]

[0174] Force analysis of the UAV hoisting system, such as Figure 4 As shown. Since the thrust F is restricted to a direction parallel to q, when F q When the direction of the cable is the same as q, it can be completely canceled out by the thrust. Therefore, the ideal direction of the cable is defined as F. q The direction, that is:

[0175]

[0176] Substituting equation (20) into equation (19), we get:

[0177]

[0178] Then the virtual thrust F d The component in the q direction is defined as:

[0179]

[0180] Substituting into equation (22), we get The final form:

[0181]

[0182] S22: Cable Direction Control

[0183] To ensure the cable's direction reaches the defined ideal direction, the cable's direction error is defined as a function of the second Lyapunov function:

[0184] z q =qq d (25)

[0185]

[0186] Differentiating equation (21), and then from get:

[0187]

[0188] Differentiate equation (20) and let F = F d ,get

[0189]

[0190] remember Substituting into (27) and further proposing the disturbance estimation error, we get:

[0191]

[0192] Define the desired load angular velocity as ω d The angular velocity error is z ω :

[0193]

[0194] z ω =S(q)(ω-ω d (31)

[0195] z ω and Substituting into equation (29), we get New format:

[0196]

[0197] Where W2 is:

[0198]

[0199] Considering the angular velocity error defined in (31), we obtain the third Lyapunov equation:

[0200]

[0201] Since the derivative of V3 contains z ω The derivative of (31) needs to be derived first:

[0202]

[0203] Will Substituting the derivative of V3, The known and unknown quantities of the disturbance are separated to obtain the desired thrust in relation to...

[0204] The vertical component of the rope is:

[0205]

[0206] in, For use When estimating disturbances The estimated value;

[0207] according to The linear relationship with the disturbance yields:

[0208]

[0209] The desired thrust is ultimately obtained as follows:

[0210] F d =P q (F d )+Π q (F d (38)

[0211] S23: Unmanned Aerial Vehicle Attitude Control

[0212] To drive the thrust in the desired direction, a final backstepping process is performed;

[0213] If we represent the rotation matrix using column vectors, R = [r1 r2 r3], then the actual thrust direction is r3 = Re3, and the desired thrust direction is... The error in the direction of thrust is defined as:

[0214]

[0215] The new Lyapunov function is then defined as:

[0216]

[0217] Differentiating the Lyapunov function, we get

[0218]

[0219] in It is a positive definite function;

[0220] In equation (38), It contains unknown quantities that include disturbances;

[0221] To indicate The linear relationship with the disturbance will It can be broken down into the following forms:

[0222]

[0223] in This indicates the result obtained after substituting the estimate of the disturbance. The estimated value;

[0224] Introducing the estimation error of the disturbance into the Lyapunov function, we get:

[0225]

[0226] Where Λ is a positive definite diagonal matrix; taking the derivative of this function, we get:

[0227]

[0228] Will and Substituting the expression into equation (41), we get The final form is:

[0229]

[0230] The coefficient matrix of the disturbance term is as follows:

[0231]

[0232] To eliminate the second term in the above equation, the angular velocity setting value for the UAV can be obtained as follows:

[0233]

[0234] The operational steps for the above method in actual aerial missions are as follows:

[0235] 1. Determine the relevant physical parameters of the quadcopter drone's sling load system, including the drone's mass and the length of the rope;

[0236] 2. Data is acquired through sensors, mainly including the motion status of the drone and the motion status of the payload;

[0237] 3. Burn the above control method into the quadcopter drone controller;

[0238] 4. Given the desired transport trajectory, the drone begins to lift the payload;

[0239] 5. The load is transported to the destination along the desired trajectory, completing the hoisting task.

[0240] This embodiment first determines the desired trajectory of the quadcopter drone carrying the load. The desired trajectory is a lemniscus, and the trajectory function is:

[0241]

[0242] In the simulation, the rope length is set to l = 0.6 (m), and the mass of the quadcopter drone is m. Q =0.2 (kg), load mass is m l =0.06 (kg). The initial attitude value of the quadcopter UAV is R(0) = I3. The control gain is k p =4,k v =4,k q =2,k ω =1.5,k r =2.5, parameter is h p =1,h ω =1,h r =1, β=0.5, and Λ=diag(0.2,0.2,5). The disturbance experienced by the drone is b. Q =[0.4,0.3,0.2] T To ensure stable system operation, the parameters in the control process need to be adjusted. When adjusting the control gain, the system's stability, convergence speed, and accuracy must be considered simultaneously.

[0243] In actual experiments, oscillations in the position error under steady state and situations where the error cannot converge completely to zero may occur, mainly due to the following reasons: First, there is a difference between the physical and mechanical model of the system and the actual situation, and the load is not connected to the center of mass of the UAV; second, air turbulence caused by the propellers of the quadcopter; third, delays caused by limitations of the system's physical conditions such as signal transmission; and fourth, the established system dynamics model cannot fully represent the motion of the actual system.

[0244] The above experiments verify that the control method described in this invention can achieve disturbance-resistant and anti-sway control during the load-carrying process of a quadcopter UAV, enabling the load to move with high precision along the desired trajectory even in the presence of external disturbances.

[0245] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for reducing sway control in a disturbance-resistant rotary-wing unmanned aerial vehicle (UAV) payload system, characterized in that, Includes the following steps: S1: Establish a dynamic model of the quadrotor UAV sling load system based on Newton's laws of kinematics and the positional relationship between the load and the UAV; S2: Based on the dynamic model, a controller is constructed using the backstepping method to control the load position, cable direction, and UAV attitude in sequence. At the same time, during the control process, the known estimated value and the unknown estimation error part of the external disturbance are separated. In the last step of the backstepping method, a Lyapunov function containing the disturbance estimation error is established to obtain the desired thrust and the angular velocity of the UAV, thereby controlling the load movement. To drive the thrust in the desired direction, a final backstepping process is performed; If we use column vectors to represent the rotation matrix The true thrust direction is The desired thrust direction is , , For virtual thrust, the error in the thrust direction is defined as: The new Lyapunov function is then defined as: Differentiating the Lyapunov function, we get in It is a positive definite function; In equation (38), It contains unknown quantities that include disturbances; To indicate The linear relationship with the disturbance will It can be broken down into the following forms: in This indicates the result obtained after substituting the estimate of the disturbance. The estimated value; Introducing the estimation error of the disturbance into the Lyapunov function, we get: in Given a positive definite diagonal matrix; taking the derivative of this function, we get: Will and Substituting the expression into equation (41), we get The final form is: The coefficient matrix of the disturbance term is as follows: To eliminate the second term in the above equation, the angular velocity setting value for the UAV can be obtained as follows: 。 2. The anti-disturbance rotary-wing UAV sling load system anti-roll control method according to claim 1, characterized in that, The model of the quadcopter UAV sling system is a rigid body driven by external forces, thrust, and torque, with six degrees of freedom. Its establishment involves two coordinate systems: the volume coordinate system fixed to the airframe is denoted as... The origin of the coordinate system is connected to the center of mass of the UAV; the inertial coordinate system is... ,Depend on arrive The rotation matrix is The mass of the quadcopter drone is Position and velocity in The terms are respectively represented as and ,exist The angular velocity in is .

3. The anti-disturbance rotary-wing UAV sling load system anti-sway control method according to claim 2, characterized in that, The load is modeled as a two-degree-of-freedom point mass with a mass of The position and velocity in the inertial frame are respectively and .

4. The anti-disturbance rotary-wing UAV sling load system anti-sway control method according to claim 3, characterized in that, The process of constructing the dynamic model of the quadcopter unmanned aerial vehicle system is as follows: S11: Define symbols during the construction of the dynamic model. For the reason arrive A mapping, , and For a pair of orthogonal projection operations, , ; S12: The payload and the drone are connected via a length of... The inelastic cable connection ensures the cable remains taut throughout system operation, resulting in a constant distance between the drone and the load. The positional relationship between the drone and the load is expressed as follows: in, This is a unit vector pointing from the fuselage to the load; S13: The load undergoes circular motion around the center of mass of the machine body, and its angular velocity in the inertial coordinate system is... The load then has the following kinematic formula: S14: Determining the translational description of the UAV sling load system using Newton's laws of motion: In equation (5), the scalar The total thrust generated by all the rotors of the drone, a scalar. The magnitude of the rope tension. , It is the acceleration due to gravity. External disturbances experienced by the drone; S15: Determine the drone's rotation description: S16: From equations (1) and (2) to find The second derivative is obtained as follows: By subtracting equations (5) and (6) after transformation, we obtain: S17: The equation (9) Substitute the expression into equation (8) and multiply both sides. ,make Equation (10) is obtained. Substituting equation (10) into equation (7), equation (11) is obtained: S18: Composed of (5) + (6) and get: S19: Determine the dynamic equations of the quadcopter UAV sling load system: 。 5. The anti-disturbance rotary-wing UAV sling load system anti-sway control method according to claim 4, characterized in that, Virtual thrust is introduced in S2. , exist The directional component controls the position of the load. The directional component controls the direction of the cable.

6. The anti-disturbance rotary-wing UAV sling load system anti-sway control method according to claim 5, characterized in that, The controller design process is divided into three parts: load position control, cable direction control, and UAV attitude control. A virtual force is set in the load position control. To obtain the desired cable direction, and simultaneously obtain exist The directional component; the second step controls the direction of the cable, while simultaneously obtaining... exist The directional component; the third step is to set the angular velocity of the drone. Control the thrust in the desired direction.

7. The anti-disturbance rotary-wing UAV sling load system anti-sway control method according to claim 6, characterized in that, The load position control is as follows: The desired trajectory of the load motion is The target of control is the location of the load. To accurately track the desired trajectory, we first define two types of load errors: Wherein, equation (14) represents the position error and equation (15) represents the velocity error; Based on the dynamic model of the UAV hoisting system, we obtain: The first Lyapunov is given by equation (18): right Differentiate and substitute equations (16) and (17) into the equations, while also considering the feedback quantity. Perform addition and subtraction operations; make Since the disturbance is unknown, the disturbance term is divided into two parts: the estimated value and the estimation error, resulting in the following: The derivative: Define virtual force for: Due to thrust Restricted to Parallel directions, when direction and When they are aligned, they can be completely canceled out by the thrust; therefore, the ideal direction of the cable is defined as... The direction, that is: Substituting equation (20) into equation (19), we get: Then virtual thrust exist The component in the direction is defined as Substituting into equation (22), we get The final form: 。 8. The anti-disturbance rotary-wing UAV sling load system anti-roll control method according to claim 7, characterized in that, The cable direction control is as follows: To ensure the cable's direction reaches the defined ideal direction, the cable's direction error is defined as a function of the second Lyapunov function: Differentiating equation (21), and then from ,get: Differentiate equation (20) and let ,get remember Substituting into (27) and further proposing the disturbance estimation error, we get: Define the desired load angular velocity as Angular velocity error is : Will and Substituting into equation (29), we get New format: in for: Considering the angular velocity error defined in (31), we obtain the third Lyapunov equation: because The derivative contains The derivative of (31) needs to be derived first: Will Substitution The derivative of, will By separating the known and unknown quantities of the disturbance, the component of the desired thrust in the direction perpendicular to the rope is obtained as follows: in, For use When estimating disturbances The estimated value; according to The linear relationship with the disturbance yields: The desired thrust is ultimately obtained as follows: 。 9. A disturbance-resistant rotary-wing unmanned aerial vehicle (UAV) sling control device, comprising a memory, a processor, and a program stored in the memory, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1-8.

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