An integrated attitude control method for a quadrotor UAV with time-varying mass load

Abstract

The present invention proposes a posture integrated control method for a quadrotor unmanned aerial vehicle with a time-varying mass load, based on a posture integrated dynamic model and a kinematic model of the quadrotor unmanned aerial vehicle carrying a time-varying mass load, and a posture integrated hyperbolic sliding mode controller based on a torsion. The desired position and desired attitude quaternions are input, and the position and attitude of the unmanned aerial vehicle are uniformly controlled through the torsion posture integrated hyperbolic sliding mode controller.

Description

Technical Field

[0001] The present invention relates to the technical fields of agricultural unmanned aerial vehicles, integrated control, and the like, and in particular to a method for integrated posture control of a quad-rotor unmanned aerial vehicle with a time-varying mass load. Background Art

[0002] In traditional modeling, the rotation and translation of a quadcopter are modeled separately. This modeling method complicates the integrated equation, increases the difficulty of calculation and reduces the control efficiency. Dual quaternions can describe the position and posture of the drone in an integrated manner, but they have parameter redundancy and require additional processing of normalization constraints; at the same time, due to the characteristics of the quaternion double covering group, the attitude control of the drone will have the phenomenon of "unwinding", resulting in unnecessary attitude movements, increasing the inconvenience of calculation and possibly affecting the application. In addition, when the drone performs pesticide spraying or sowing tasks, the mass of the load it carries is time-varying and there is internal shaking, which will bring additional disturbances to the drone. Traditional sliding mode control has the advantages of strong robustness, easy implementation and insensitivity to external interference, but its characteristics of crossing the sliding surface will cause the control output to have the problem of jitter, and a more suitable solution needs to be found. Summary of the invention

[0003] In order to solve the problems existing in the above-mentioned prior art, the present invention proposes a method for integrated position and attitude control of a quadrotor UAV with a time-varying mass load. The purpose of the present invention is to effectively control the disturbance caused by the time-varying mass load and the external disturbance, and proposes a method for integrated position and attitude modeling and control of a quadrotor UAV with a time-varying mass load under a torsion framework to ensure the stability of the position and attitude of the quadrotor UAV.

[0004] In the design process of the present invention, the modified Rodriguez parameters are expanded and derived into six-dimensional parameter posture torsion, and the rigid body is modeled dynamically and kinematically based on the torsion algebra system; the dynamic characteristics of the quad-rotor drone carrying a time-varying mass load are analyzed, the influence of the variable mass load on the drone inertia array and the total mass of the system is analyzed, and the resultant force and torque are converted into the force spiral representation under the torsion system; the generalized coordinate system is defined and substituted into the force spiral to obtain the posture integrated dynamic model and kinematic model of the quad-rotor drone carrying a time-varying mass load; a posture integrated hyperbolic sliding mode controller based on torsion is designed to achieve unified control of position and attitude; the desired position and desired attitude quaternion are input, and the unified control of the drone position and attitude is achieved through the constructed posture integrated hyperbolic sliding mode controller based on the torsion of the integrated dynamic model of the quad-rotor drone with a time-varying mass load. The present invention performs posture integrated modeling of the quad-rotor drone with a time-varying mass load based on torsion and designs a hyperbolic sliding mode controller to improve the flight control performance of the quad-rotor drone with load.

[0005] The specific technical solutions are as follows:

[0006] A method for integrated posture control of a quadrotor unmanned aerial vehicle with a time-varying mass load is disclosed: based on an integrated posture dynamic model and a kinematic model of a quadrotor unmanned aerial vehicle carrying a time-varying mass load, and a posture integrated hyperbolic sliding mode controller based on a torsion, the desired position and desired attitude quaternions are input, and the position and attitude of the unmanned aerial vehicle are uniformly controlled through the torsion posture integrated hyperbolic sliding mode controller.

[0007] Furthermore, the current position and attitude of the quadrotor drone, as well as the expected position and attitude are all in the form of quaternions.

[0008] Furthermore, the torque-based integrated dynamics and kinematics model of the quad-rotor drone with time-varying mass load is specifically:

[0009]

[0010] In the formula, Represents the body coordinate system B Relative to the desired coordinate system D The dual quaternion form of the relative position torsion is: The dual quaternion form of the derivative of the relative position torsion is expressed as: The dual quaternion form representing the dual velocity, The dual vector form of the dual velocity is expressed as, The dual vector form of the derivative of the dual velocity; , and The superscript indicates the current coordinate system of the corresponding variable, and the subscript indicates the relative coordinate system. I Represents an inertial coordinate system (such as Expressed in the body coordinate system B Next, the body coordinate system B Relative to the inertial coordinate system I The dual velocity vector of , and so on); They represent the fixed mass operator and variable mass operator of the UAV system respectively, They represent the control force spiral, gravity force spiral and disturbance force spiral respectively.

[0011] Furthermore, the mass of the time-varying mass load system carried by the quadrotor drone m and inertia matrix J It is expressed as:

[0012]

[0013] In the formula, is the fixed mass part, is the time-varying part of mass, is the fixed part of the inertia matrix, is the time-varying part of the mass matrix; the mass of the time-varying part is liquid, which will generate additional torque due to the shaking of the fuselage. Expands to:

[0014]

[0015] In the formula, is the vector pointing from the center of the drone to the center of the variable mass load, is the time-varying mass itself at the current moment, E is a three-dimensional unit matrix that satisfies ; The time-varying torque caused by the time-varying mass is expressed as:

[0016] ;

[0017] The dual mass operator of the quadrotor drone Split into fixed and time-varying forms, written as:

[0018]

[0019] in, is a dual unit, satisfying ; Operator It represents the operation of taking the dual part of an even number, which can be expressed as

[0020] In the formula, x is the real part of an even number, y It is the dual part of an even number.

[0021] Furthermore, the sliding surface and reaching law of the torsion-based integrated hyperbolic sliding mode controller are:

[0022]

[0023] In the formula, Represents the dual vector form of the sliding surface, Represents the dual vector form of the reaching law; is the total velocity vector of this system; and is the control parameter operator, is the unit dual operator, which is the unit operator in the set algebra system and can realize the exchange of the dual part and the real part. is the error twister between the drone system and the desired system, It means taking the real part of the dual quaternion and the vector part of the dual part,

[0024]

[0025] In the formula, a , b is the control gain parameter, which is any real number greater than zero. Different real numbers greater than zero can be selected according to different system requirements. a It is usually selected as a real number greater than 1 to obtain a faster convergence speed. b It is usually selected as a real number greater than 0 and less than 1 to avoid excessive oscillation near the sliding surface; is the sliding surface;

[0026] The control spiral is:

[0027]

[0028] In the formula, is the sum of the mass and moment of inertia of the UAV system, satisfying ;

[0029] Control parameter operator and The form is:

[0030] .

[0031] Furthermore, the error twister between the drone-based system and the desired system is defined as:

[0032]

[0033] In the formula, is the dual quaternion, expressed as:

[0034]

[0035] In the formula, is a quaternion, representing the real part and the dual part of the dual quaternion, satisfying ; is a dual unit, satisfying , Represents the set of dual quaternions. If the real part of the dual quaternion and the quaternion scalar part of the dual part are both zero, this set is ;

[0036] For any value of twistor , and its corresponding dual quaternion satisfy:

[0037] .

[0038] Based on the above design, the present invention further provides a quadrotor UAV with a time-varying mass load and is provided with a posture integrated control module; the posture integrated control module includes a posture integrated controller and a quadrotor motor; the posture integrated controller is based on the posture integrated dynamic model and kinematic model of the quadrotor UAV carrying a time-varying mass load, and a posture integrated hyperbolic sliding mode controller based on torsion, and inputs the desired position and desired attitude quaternions, and the position and attitude of the UAV are uniformly controlled through the torsion posture integrated hyperbolic sliding mode controller.

[0039] And, an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the above method when executing the program.

[0040] A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that the computer program implements the steps of the above method when executed by a processor.

[0041] Compared with the prior art, the significant innovations of the present invention and its preferred solution are as follows:

[0042] Compared with the existing modeling methods of two-axis stabilized platforms for aerial remote sensing, the present invention provides integrated posture modeling based on torsion, which avoids the traditional method of modeling position and posture separately, and is more concise and efficient. In addition, the present invention is expanded from the modified Rodriguez method, and there has been considerable research on the modified Rodriguez parameters, and it is more scalable. Compared with the existing integrated posture modeling methods, the scheme of the present invention avoids parameter redundancy and quaternion normalization constraints, and prevents control accuracy problems caused by normalization constraints. Considering that the existing integrated modeling of unmanned aerial vehicles does not take into account the impact of time-varying loads, the scheme proposed in the present invention takes into account the additional disturbance caused by the load when carrying a time-varying load, and provides a detailed dynamic description of it, so that it fits the reality and has engineering application significance.

[0043] The integrated hyperbolic sliding mode control method based on torsion quantity proposed in the present invention adopts hyperbolic cosine function and hyperbolic tangent function to design the reaching law, thus avoiding the generation of chattering and enhancing the robustness and response speed of the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0045] Figure 1 This is a schematic diagram of a quad-rotor drone with a time-varying load according to an embodiment of the present invention;

[0046] Figure 2 A flowchart for designing and implementing an integrated control system based on twistor according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of a semi-physical simulation verification experimental bench of an embodiment of the present invention;

[0048] Figure 4 It is a graph of attitude angles of semi-physical simulation results of an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of a numerical simulation UAV task according to an embodiment of the present invention;

[0050] Figure 6 This is a curve diagram of the change in the moment of inertia of a drone with a time-varying load according to an embodiment of the present invention;

[0051] Figure 7 Graphs showing simulation results of an embodiment of the present invention, wherein (a) is a graph showing a relative posture correction Rodriguez parameter curve; (b) is a graph showing a relative position curve; (c) is a graph showing a control torque output curve; and (d) is a graph showing a control force output curve. DETAILED DESCRIPTION

[0052] In order to make the features and advantages of this patent more obvious and easy to understand, the following embodiments are specifically described in detail as follows:

[0053] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0054] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0055] An embodiment of the present invention proposes a method for integrated posture modeling and control of a quadrotor drone with a time-varying mass load in a torsion framework, and its design and final implementation process specifically include the following steps:

[0056] Step S1: Referring to the derivation relationship between the modified Rodriguez parameters and the attitude quaternion, the modified Rodriguez parameters are expanded and derived into six-dimensional parameter posture torsion, and the dynamics and kinematics modeling of the rigid body is performed based on the torsion algebra system; the dynamic characteristics of the quadrotor UAV carrying a time-varying mass load are analyzed, and the influence of the variable mass load on the UAV inertia array and the total mass of the system is analyzed, and the resultant force and torque are converted into a force spiral representation under the torsion system; a generalized coordinate system is defined, and the force spiral is substituted to obtain the posture integrated dynamics model and kinematic model of the quadrotor UAV carrying a time-varying mass load;

[0057] Step S2: Designing a position-attitude integrated hyperbolic sliding mode controller based on torsion, which can realize unified control of position and attitude; on the basis of the sliding mode controller, the position-attitude integrated hyperbolic sliding mode controller combines the hyperbolic cosine function and the hyperbolic tangent function to design the reaching law, so as to realize the control effect of no chattering, fast response and fast convergence;

[0058] Step S3: Input the desired position and desired attitude quaternion, and realize unified control of the position and attitude of the UAV through the constructed position-attitude integrated hyperbolic sliding mode controller based on the integrated dynamic model of the quad-rotor UAV with time-varying mass load based on the torque.

[0059] As a preferred solution of this embodiment, the implementation process of step S1 is as follows:

[0060] (1) Model establishment

[0061] Consider a quadrotor drone system with time-varying loads, such as Figure 1 This figure shows two reference coordinate systems: the fixed coordinate system of the controlled drone body (B) and the ground inertial coordinate system (I).

[0062] Represents the body coordinate system; represents the inertial coordinate system. Since the load is mechanically fixed under the drone, the system with the load is equivalent to the drone's body coordinate system. For the convenience of the following description, the letters in bold are three-dimensional vectors; superscript The quaternion form of the vector is represented, that is, for any three-dimensional vector satisfy ; Superscript represents the twist amount; Represents the conjugate of a quaternion; defines the operator and are the scalar and vector parts of the quaternion, that is, , ; , The vector representing this system relative to the inertial system is represented by its coordinates in this system and the inertial system respectively, and so on.

[0063] A quaternion is defined as: , the modified Rodriguez parameter (MRP) based on quaternion can be written as Since quaternions are a double-covered description of the three-dimensional rotation group, that is, q and -q They all represent the same posture. If no additional processing is done during position control, unwinding will occur, reducing control efficiency. However, MRP does not have this problem. Extending this feature to dual quaternions can solve the corresponding problems of dual quaternions. Defined as:

[0064]

[0065] in is a quaternion, representing the real part and the dual part of the dual quaternion, satisfying . is a dual unit, satisfying Obviously, since the dual quaternion is the dual extension of the quaternion, it also has parameter redundancy and normalization constraints. If the real part of the dual quaternion and the quaternion scalar part of the dual part are both zero, that is:

[0066]

[0067] Then record this set as On this basis, referring to the relationship between MRP and quaternion, the dual quaternion is processed to obtain the posture torsion in the geometric algebra framework based on the dual quaternion definition for:

[0068]

[0069] Expand the dual part and real part of the above formula to get:

[0070]

[0071] Where C represents the current relative coordinate system. To simplify the representation, define the matrix:

[0072]

[0073] in Represents the antisymmetric matrix of a three-dimensional vector. Then:

[0074]

[0075] For any vector x Substituting it into the dual expansion of the twistor, we get:

[0076]

[0077] in, Twist The dual vector of . The unit constraint of the dual quaternion can be expressed as:

[0078]

[0079] Among them, the dual quaternion is an eight-dimensional parameter, and the twistor is a six-dimensional parameter. There is no parameter redundancy, and for any value of the twistor , and its corresponding dual quaternion satisfy:

[0080]

[0081] It can be seen that when twistors are used to uniformly describe position and posture, the normalization constraint is always automatically satisfied. Therefore, using twistors to uniformly describe position and posture is more advantageous than dual quaternions.

[0082] (2) Kinematic and dynamic models based on twistor

[0083] Assuming that there are two coordinate systems O and A, the superscript represents the current relative coordinate system, then the kinematic equation of the pose dual quaternion is expressed as:

[0084]

[0085] Deriving the twistor expression and inserting it into the above formula, we can get:

[0086]

[0087] in, is the dual velocity vector The dual quaternion form of , the dual velocity vector is expanded as:

[0088]

[0089] in is the angular velocity of the coordinate system relative to the moving is the linear velocity of the relative motion of the coordinate system. In order to unify the posture dynamics equations, the dual mass operator is defined as:

[0090]

[0091] in, m For the quality of the drone, J is the UAV’s inertia matrix, I is the identity matrix; the operator It represents the operation of taking the dual part of an even number, which can be expressed as In the formula, x is the real part of an even number, yIt is the dual part of an even number.

[0092] The dual force spiral can be expressed as:

[0093]

[0094] in f is the total external force vector acting on the rigid body, τ is the total external torque vector of the rigid body. Assume that the system where the rigid body is located is recorded as B , the inertial system is recorded as I , ignoring gravity and disturbance, the dynamic equation is:

[0095]

[0096] (3) Relative kinematics and relative dynamics models based on time-varying loads of torsion bands

[0097] The load carried by the drone can be regarded as a fixed part and a time-varying part. Combining it with the mass of the drone, it can be written as:

[0098]

[0099] in is the fixed mass part, is the time-varying part of mass, is the fixed part of the inertia matrix, is the time-varying part of the mass matrix. The mass of the time-varying part is liquid, which will generate additional torque due to the shaking of the fuselage. Expands to:

[0100]

[0101] in is the vector pointing from the center of the drone to the center of the variable mass load, is the time-varying mass itself at the current moment. The time-varying torque caused by the time-varying mass can be expressed as:

[0102]

[0103] The mass constant can be split into fixed and time-varying forms, which can be written as:

[0104]

[0105] Since the flight mission of the UAV can be regarded as the relative motion between the controlled UAV and the target UAV, it can be abstracted as the relative motion between the UAV system and the desired coordinate system. The desired coordinate system is recorded as Substituting the inertial system, the present system and the desired system into the integrated dynamics and kinematics equations based on the torsion quantity, and combining with the variable mass load, the relative kinematics and relative dynamics models with time-varying load can be obtained as follows:

[0106]

[0107] As a preferred solution of this embodiment, the design of the integrated hyperbolic sliding mode controller based on twistor in step S2 is as follows:

[0108] In order to unify the operation of dual expressions, the dual operator is defined as:

[0109]

[0110] in is a 3×3 real matrix. The unit dual operator is denoted as:

[0111]

[0112] but The operation on the dual vector can be expressed as:

[0113]

[0114] It can be seen The real part and the dual part of the even number are exchanged. The sliding surface based on the twistor can be written as:

[0115]

[0116] The traditional sliding mode reaching law based on twistor can be written as:

[0117]

[0118] Where sgn is the sign function. This reaching law can ensure the rapid convergence of the sliding mode variable, but it will cause the sliding mode variable to quickly and repeatedly cross the sliding surface, which will cause the control output to vibrate, seriously affecting the control effect. Especially when the UAV is equipped with a load, the disturbance is large, and conventional linear sliding mode control will produce obvious jitter, which is difficult to apply in practice. In order to solve this problem, it is proposed to use a hyperbolic function instead of a sign function as the reaching law. The improved sliding mode reaching law is written as:

[0119]

[0120] in, The hyperbolic tangent function has a similar effect to the sign function near the zero point, which can realize the rapid switching of the sliding mode variable; when far away from the zero point, the hyperbolic cosine function can realize the rapid convergence of the sliding mode variable, making it infinitely close to 0 but not exceeding 0. This characteristic enables the hyperbolic reaching law to make the sliding mode variable converge quickly without crossing the sliding surface, thus avoiding the occurrence of chattering. Considering gravity and interference, the sliding mode reaching law is substituted into the relative dynamic model with load to obtain:

[0121]

[0122] in Calculated by the twistor kinematics equation. Due to the unification of attitude and position control design and the unification of the three-channel control of attitude and position, the dual coefficient operator is designed as:

[0123]

[0124] The final implementation flow chart of the control system is as follows: Figure 2 shown.

[0125] Simulation analysis:

[0126] In order to verify the effectiveness of the proposed torsion-based hyperbolic sliding mode control, the controller is first built and simulated based on MATLAB / Simulink. Then, the host computer software provided by Lingsi Chuangqi is used to convert and compile the controller module in Simulink into C language, and the code is downloaded to the flight control of the drone through the built-in WIFI communication module to complete the burning. Finally, a semi-physical experiment is used to verify the performance of the torsion-based posture integration (DH-SMC) control algorithm for a quadcopter drone with a time-varying mass load provided in an embodiment of the present invention. The schematic diagram of the quadcopter drone test bench structure of Lingsi Chuangqi is shown in the figure. Figure 3 After programming the PD controller with the proposed DH-SMC, a semi-physical simulation of the attitude is performed. The results are shown in Figure 4 It can be seen that the DH-SMC proposed in the present invention has smaller overshoot, stabilization time and steady-state error in the control process of the three-axis attitude angle than the PD controller, indicating that the DH-SMC has better dynamic response performance.

[0127] In order to further verify, a numerical simulation experiment of the UAV is designed. The schematic diagram of the UAV mission is as follows: Figure 5 The change of the UAV inertia due to the variable mass is shown in Figure 6 The simulation results are shown in Figure 7 As shown, (a) is the relative posture correction Rodriguez parameter curve; (b) is the relative position curve; (c) is the control torque output curve; (d) is the control force output curve. Figure 7It can be seen that when there are attitude disturbances and position disturbances, the torque-based quadrotor UAV integrated sliding mode control system designed in the present invention can ensure that the position and attitude converge quickly to zero, and has good anti-interference ability. Even if there is a variable mass load, there is no jitter in the controller output, which verifies the effectiveness of the proposed torque-based quadrotor UAV modeling and control.

[0128] Based on the above design, the UAV control system process can be obtained as follows Figure 2 As shown in the figure, the control objectives are: a. To achieve precise posture uniformity control of the quadrotor drone; b. To ensure that the controller converges quickly and does not generate chattering when carrying a variable mass load.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

[0135] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other various forms of integrated attitude control methods for quad-rotor drones with time-varying mass loads under the inspiration of the present invention. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A method for integrated position and attitude control of a quadrotor drone with a time-varying mass load, characterized in that: Based on the posture-integrated dynamic model and kinematic model of a quad-rotor UAV carrying a time-varying mass load, and the posture-integrated hyperbolic sliding mode controller based on torsion, the desired position and desired attitude quaternion are input, and the position and attitude of the UAV are uniformly controlled through the posture-integrated hyperbolic sliding mode controller based on torsion; The current position and attitude of the quadrotor drone, as well as the expected position and attitude are all in the form of quaternions; The torque-based integrated dynamics and kinematics model of the quadrotor drone with time-varying mass load is specifically as follows: In the formula, Represents the body coordinate system B Relative to the desired coordinate system D The dual quaternion form of the relative position torsion is: The dual quaternion form of the derivative of the relative position torsion is expressed as: The dual quaternion form representing the dual velocity, The dual vector form of the dual velocity is expressed as, The dual vector form of the derivative of the dual velocity; , and The superscript indicates the current coordinate system of the corresponding variable, and the subscript indicates the relative coordinate system. I represents the inertial coordinate system; They represent the fixed mass operator and variable mass operator of the UAV system respectively, They represent the control force spiral, gravity force spiral and disturbance force spiral respectively; The quality of the time-varying mass load system carried by the quadrotor drone m and inertia matrix J It is expressed as: In the formula, is the fixed mass part, is the time-varying part of mass, is the fixed part of the inertia matrix, is the time-varying part of the mass matrix; the mass of the time-varying part is liquid, which will generate additional torque due to the shaking of the fuselage. Expands to: In the formula, is the vector pointing from the center of the drone to the center of the variable mass load, is the time-varying mass itself at the current moment, E is a three-dimensional unit matrix; the time-varying torque caused by the time-varying mass is expressed as: ； The dual mass operator of the quadrotor drone Split into fixed and time-varying forms, written as: in, is a dual unit, satisfying ; Operator Satisfy the operation representing taking the dual part of an even number; The sliding surface and reaching law of the torsion-based integrated hyperbolic sliding mode controller are: In the formula, Represents the dual vector form of the sliding surface, Represent the dual vector form of the reaching law; is the total velocity vector of this system; and is the control parameter operator, is the unit dual operator, is the error twister between the drone system and the desired system, It means taking the real part of the dual quaternion and the vector part of the dual part, In the formula, a , b is the control gain parameter; is the sliding surface; The control spiral is: In the formula, is the sum of the mass and moment of inertia of the UAV system, satisfying ; Control parameter operator and The form is: 。 2. The method for integrated position and attitude control of a quadrotor drone with a time-varying mass load according to claim 1, characterized in that: The error twister between the drone system and the desired system is defined as: In the formula, is the dual quaternion, expressed as: In the formula, is a quaternion, representing the real part and the dual part of the dual quaternion, satisfying ; is a dual unit, satisfying , Represents the set of dual quaternions. If the real part of the dual quaternion and the quaternion scalar part of the dual part are both zero, this set is ; For any value of twistor , and its corresponding dual quaternion satisfy: 。 3. A quadrotor drone with a time-varying mass load, characterized in that: A posture integrated control module is provided; the posture integrated control module includes a posture integrated controller and a quad-rotor motor; the posture integrated controller is based on a posture integrated dynamic model and a kinematic model of a quad-rotor UAV carrying a time-varying mass load, and a posture integrated hyperbolic sliding mode controller based on a torsion quantity, and inputs the desired position and desired attitude quaternion, and uniformly controls the position and attitude of the UAV through the torsion posture integrated hyperbolic sliding mode controller; The torque-based integrated dynamics and kinematics model of the quadrotor drone with time-varying mass load is specifically as follows: In the formula, Represents the body coordinate system B Relative to the desired coordinate system D The dual quaternion form of the relative position torsion is: The dual quaternion form of the derivative of the relative position torsion is expressed as: The dual quaternion form representing the dual velocity, The dual vector form of the dual velocity is expressed as, The dual vector form of the derivative of the dual velocity; , and The superscript indicates the current coordinate system of the corresponding variable, and the subscript indicates the relative coordinate system. I represents the inertial coordinate system; They represent the fixed mass operator and variable mass operator of the UAV system respectively, They represent the control force spiral, gravity force spiral and disturbance force spiral respectively; The quality of the time-varying mass load system carried by the quadrotor drone m and inertia matrix J It is expressed as: In the formula, is the fixed mass part, is the time-varying part of mass, is the fixed part of the inertia matrix, is the time-varying part of the mass matrix; the mass of the time-varying part is liquid, which will generate additional torque due to the shaking of the fuselage. Expands to: In the formula, is the vector pointing from the center of the drone to the center of the variable mass load, is the time-varying mass itself at the current moment, E is a three-dimensional unit matrix; the time-varying torque caused by the time-varying mass is expressed as: ； The dual mass operator of the quadrotor drone Split into fixed and time-varying forms, written as: in, is a dual unit, satisfying ; Operator Satisfy the operation representing taking the dual part of an even number; The sliding surface and reaching law of the torsion-based integrated hyperbolic sliding mode controller are: In the formula, Represents the dual vector form of the sliding surface, Represent the dual vector form of the reaching law; is the total velocity vector of this system; and is the control parameter operator, is the unit dual operator, is the error twister between the drone system and the desired system, It means taking the real part of the dual quaternion and the vector part of the dual part, In the formula, a , b is the control gain parameter; is the sliding surface; The control spiral is: In the formula, is the sum of the mass and moment of inertia of the UAV system, satisfying ; Control parameter operator and The form is: 。 4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for integrated posture control of a quadrotor drone with a time-varying mass load as described in claim 1 or 2 are implemented.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for integrated position and attitude control of a quadrotor drone with a time-varying mass load as described in claim 1 or 2 are implemented.

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