Unmanned aerial vehicle suspension control system and control method

Abstract

The invention discloses an unmanned aerial vehicle suspension control system and control method. The system comprises a controller, and an unmanned aerial vehicle main body, a swing cable, an angle detection sensor and a cable regulator which are respectively controlled by the controller; the controller is configured to analyze a secondary swing control model of the unmanned aerial vehicle suspension control system constructed by the received position information data of the unmanned aerial vehicle main body, angle data output by the angle detection sensor and length data of the second cable output by the cable regulator; and correspondingly controlling the current state of the first cable and / or the second cable according to an analysis result. Visual inspection, an angle sensor and a rope length sensor are integrated, swing control is conducted on the suspension cable of the unmanned aerial vehicle, a suspension system is modeled to be a two-stage swing system with the combination of the rigid connecting rod and the flexible rope, the swing angle of the cable is controlled through the constraint characteristic of the rigid connecting rod, and the control precision of the system is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to an unmanned aerial vehicle suspension control system and a control method. Background Art

[0002] With the development of drone flight technology, its application areas continue to expand, from simple aerial photography and terrain mapping to multiple complex scenarios such as cargo transportation, emergency rescue and even high-altitude operations.

[0003] Drone suspension control has also become an important functional drone module. The suspension system suspends the cargo under the drone through cables, which can effectively avoid obstacles, reduce air resistance during flight, and improve the stability of the drone during flight by increasing mass. In the drone suspension system, the control of the suspension cable is crucial. Reasonable cable length adjustment and swing angle control can effectively reduce the swing of cargo under external disturbances such as wind, and improve the stability of the drone flight and the accuracy of capture.

[0004] It can be seen that how to effectively control the stability of the UAV suspension system has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] The present invention provides a UAV suspension control system and a control method to improve the swing suppression effect of the UAV during cargo transportation.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a UAV suspension control system, including a controller and a UAV body, a swing cable, an angle detection sensor and a cable adjuster respectively controlled by the controller.

[0007] The swing cable includes a first cable and a second cable, the first cable is a rigid cable, the second cable is a flexible cable, one end of the first cable is connected to the drone body, the other end of the first cable is connected to one end of the second cable, and the other end of the second cable is provided with a cargo suspension interface.

[0008] A section of the first cable is further provided with an angle detection sensor.

[0009] A section of the second cable is further provided with the cable adjuster.

[0010] The controller is configured to analyze a secondary swing control model of the UAV suspension control system constructed by receiving position information data of the UAV body, angle data output by the angle detection sensor, and length data of the second cable output by the cable adjuster, and control the current state of the first cable and / or the second cable accordingly according to the analysis result.

[0011] Further, controlling the current state of the first cable and / or the second cable correspondingly according to the analysis result includes:

[0012] If it is detected that the analysis result meets the first state control mode condition, an angle control signal of the first cable is output.

[0013] If it is detected that the analysis result meets the second state control mode condition, a length control signal of the second cable is output.

[0014] If it is detected that the analysis result meets the condition of the third state control mode, an angle control signal of the first cable and a length control signal of the second cable are output respectively.

[0015] Furthermore, the secondary swing control model is constructed by controlling the position of the UAV, the swing control of the first cable and the second cable, the length control of the second cable, and the attitude control of the UAV;

[0016] The UAV position control is expressed as:

[0017]

[0018] Among them, k x ,k y ,k z is the proportional control gain of the UAV position, d x ,d y ,d z is the damping control gain of the UAV position, e x ,e y ,e z is the position error of the UAV, is the speed error of the UAV.

[0019] The swing control of the first cable and the second cable is expressed as:

[0020]

[0021] in, are the proportional control gains of the angles of the first cable and the second cable, respectively, and θ are the damping control gains for the angles of the first cable and the second cable, respectively.

[0022] The length control of the second cable is expressed as:

[0023]

[0024] in, is the proportional control gain for the length of the second cable, The damping control gain is the length of the second cable.

[0025] The attitude control of the UAV is expressed as:

[0026]

[0027] in, is the proportional gain of the UAV attitude control, is the damping gain of the UAV attitude control.

[0028] Furthermore, the system also includes an image acquisition device;

[0029] The image acquisition device is arranged below the drone body.

[0030] Furthermore, the controller is also configured to:

[0031] The cycloid image data output by the image acquisition device is received, and the angle data and the length data are calibrated according to the cycloid image data.

[0032] Another embodiment of the present invention provides a method for controlling a suspension of an unmanned aerial vehicle, comprising:

[0033] The position information data obtained by the positioning chip, the angle data obtained by the angle detection sensor and the length data obtained by the cable adjuster are obtained during the operation of the drone.

[0034] A secondary swing control model is constructed according to the position information data, the angle data and the length data.

[0035] The secondary swing control model is run according to the real-time data of the UAV, and the angle and length of the swing cable are adjusted in real time according to the output result of the secondary swing control model.

[0036] Furthermore, before obtaining the position information data obtained by the positioning chip, the angle data obtained by the angle detection sensor, and the length data obtained by the cable adjuster during the operation of the drone, the method further includes:

[0037] In response to the acquired UAV attitude calibration control instruction, the UAV body is controlled to be initialized.

[0038] During the initialization process of the drone body, the collected drone operation data is analyzed.

[0039] According to the analysis result, a posture calibration signal of the drone body is generated, and the posture calibration signal includes at least one of the following: a voltage control signal or a current control signal.

[0040] Furthermore, after generating the attitude calibration signal of the drone body according to the analysis result, the method further includes:

[0041] Perform big data analysis on sensor data to calibrate the initial sensor data.

[0042] Furthermore, the method further comprises:

[0043] The Lyapunov method is used to verify the stability of the UAV's swing suppression control effect. If the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification results, and the swing cable is readjusted.

[0044] Furthermore, the stability verification of the swing suppression control effect of the UAV by using the Lyapunov method includes:

[0045] A Lyapunov function is defined, and its time derivative is obtained according to the Lyapunov function.

[0046] It is determined whether the time derivative is less than a preset maximum derivative threshold value. If so, the stability of the control effect of the swing suppression meets the standard.

[0047] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0048] (1) The system integrates visual detection, angle and rope length sensors to obtain the location and posture information of the cargo in real time based on the collaborative feedback of multi-source data. It also combines the angle sensor data and rope length information to control the swing of the UAV suspension cable, thereby enhancing the adaptability and robustness of the system in complex environments.

[0049] (2) The suspension system is modeled as a two-stage pendulum system consisting of a rigid link and a flexible rope. By utilizing the constraint characteristics of the rigid link to control the swing angle of the cable, the control accuracy of the system is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a UAV suspension control system provided by an embodiment of the present invention;

[0051] Figure 2 A control structure diagram of a UAV suspension control system provided by an embodiment of the present invention;

[0052] Figure 3 A control process diagram of a UAV suspension control system provided by an embodiment of the present invention;

[0053] Figure 4 A flowchart of the steps of the UAV suspension control method provided by an embodiment of the present invention;

[0054] Figure 5 A control flow chart of the UAV suspension control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] In the description of this application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0057] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are only for illustrative purposes, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0059] An embodiment of the present invention provides a UAV suspension control system. For details, see Figure 1 , Figure 1 A structural schematic diagram of a UAV suspension control system provided by an embodiment of the present invention is shown, including a controller and a UAV body, a swing cable, an angle detection sensor and a cable adjuster respectively controlled by the controller.

[0060] The swing cable includes a first cable and a second cable, the first cable is a rigid cable, the second cable is a flexible cable, one end of the first cable is connected to the drone body, the other end of the first cable is connected to one end of the second cable, and the other end of the second cable is provided with a cargo suspension interface.

[0061] A section of the first cable is further provided with an angle detection sensor.

[0062] A section of the second cable is further provided with the cable adjuster.

[0063] The controller is configured to analyze a secondary swing control model of the UAV suspension control system constructed by receiving position information data of the UAV body, angle data output by the angle detection sensor, and length data of the second cable output by the cable adjuster, and control the current state of the first cable and / or the second cable accordingly according to the analysis result.

[0064] In the existing UAV suspension system, the control method is often based on a single feedback source. It either relies only on cable length control or only relies on swing angle control, lacking a coordinated control mechanism. Therefore, this embodiment proposes a UAV suspension control system based on a secondary swing control model to enhance system flexibility, improve control accuracy, and adapt to complex environments.

[0065] Specifically, the current state of the first cable and / or the second cable is controlled accordingly according to the analysis result, and the analysis result needs to be divided into three modes. When the angle of the first cable is greater than a preset angle swing threshold, it is a first state control mode. At this time, the angle of the first cable needs to be adjusted, and the controller outputs an angle control signal of the first cable.

[0066] When the length of the second cable exceeds a preset cable length threshold, it is in the second state control mode. At this time, the length of the second cable needs to be adjusted, and the controller outputs a second cable length control signal.

[0067] If the angle of the first cable is less than the preset angle swing threshold, and the length of the second cable is less than the preset cable length threshold, it is the third state control mode, then the controller outputs the angle control signal of the first cable and the length control signal of the second cable according to the actual cable swing state, and adjusts the cable swing state according to the actual situation. Among them, the angle swing threshold and the cable length threshold are determined according to the specific model of the drone, flight speed, wind information, weight of the suspended cargo, and the state of the cycloid parameter.

[0068] Specifically, the system also includes an image acquisition device, which is arranged below the drone body and is used to collect information about the first cable, the second cable and the cargo below.

[0069] The controller receives the cycloid image data collected by the image acquisition device. The cycloid image data is used to calibrate the cycloid information obtained by the angle detection sensor during the process of collecting the cable swing state data, so as to improve the accuracy of data acquisition.

[0070] Specifically, the specific construction process of the secondary swing control model is:

[0071] Assume the mass of the drone is m Q , space coordinates (x Q ,y Q ,z Q ), and can move freely in three-dimensional space. A secondary swing cable is suspended on the drone, which is divided into a first cable and a second cable. The first cable is a pan-tilt with a controllable swing angle, a rod-shaped rigid pendulum, with a length of l1 and a mass of m1. The second cable is a flexible cable with a length of l2, connected to the end of the first cable, and a cargo suspension interface is provided at the end of the second cable. Assume that the mass of the cargo suspended during the operation of the drone is m L .

[0072] θ x1 Is the first cable and surface Z W O W Y W The angle, θ y1 Is the first cable and surface Z W O W X W Angle.

[0073] θ x2 Is the second cable and surface Z W O W Y W The angle, θ y2 Is the second cable and surface Z W O W X W Angle.

[0074] The drone can move freely in space, and its position is represented by the generalized coordinates (x Q ,y Q ,z Q )describe.

[0075] According to the geometric relationship in three-dimensional space, the coordinates (x1, y1, z1) of the end of the first cable are:

[0076] x1=x Q +l1sin(θ x1 )cos(θ y1 )

[0077] y1=y Q +l1sin(θ y1 )

[0078] z1=z Q -l1cos(θ x1 )cos(θ y1 )

[0079] The coordinates (x2, y2, z2) of the second cable end are:

[0080] x2=x1+l2sin(θ x2 )cos(θ y2 )

[0081] y2=y1+l2sin(θ y2 )

[0082] z2=z1-l2cos(θ x2 )cos(θ y2 )

[0083] The generalized coordinates of the entire system are expressed as:

[0084] q=[x Q ,y Q ,z Q ,θ x1 ,θ y1 ,θ x2 ,θ y2 ,l2]

[0085] In x Q Generalized force of direction:

[0086]

[0087] y Q Generalized force of direction:

[0088]

[0089] z QGeneralized force of direction:

[0090]

[0091] θ x1 Generalized force of direction:

[0092]

[0093] θ y1 Generalized force of direction:

[0094]

[0095] θ x2 Generalized force of direction:

[0096]

[0097] θ y2 Generalized force of direction:

[0098]

[0099] Generalized force in the direction of rope length l2:

[0100]

[0101] Therefore, the total kinetic energy of the system consists of three parts, including the kinetic energy of the drone, the kinetic energy of the first cable, and the kinetic energy of the second cable.

[0102] The kinetic energy of the drone is:

[0103]

[0104] The kinetic energy of the first cable includes two parts, translational kinetic energy and rotational kinetic energy.

[0105] The translational kinetic energy generated by the center of mass motion of the first cable is:

[0106]

[0107] The rotational kinetic energy brought by the rotation of the first cable is:

[0108]

[0109] The kinetic energy of the second cable is determined by the translational kinetic energy of the end particle:

[0110]

[0111] The total potential energy V of the system is determined by the heights of the first cable and the second cable.

[0112] The potential energy of the first cable is determined by the potential energy of the center of mass:

[0113] V1=m1gz1

[0114] The potential energy of the particle at the end of the second cable is:

[0115] V2=m L gz2

[0116] Substituting the generalized coordinates of the system into the Lagrange equation, the dynamic equation of the system is derived, and the generalized force of air resistance is obtained as:

[0117]

[0118] Among them, d px ,d py ,d pz is the drag coefficient of air resistance in the spatial coordinate direction. Air resistance is proportional to speed.

[0119] Based on the above dynamic relationship, the secondary swing control model of the UAV during suspension operation is obtained.

[0120] Among them, the two-level swing control model mainly realizes the control of the system from four aspects: UAV position control, swing control of the first cable and the second cable, length control of the second cable and attitude control of the UAV.

[0121] The drone position control is expressed as:

[0122]

[0123] Among them, k x ,k y ,k z is the proportional control gain of the UAV position, d x ,d y ,d z is the damping control gain of the UAV position, e x ,e y ,e z is the position error of the UAV, is the speed error of the UAV.

[0124] The swing control of the first cable and the second cable is expressed as:

[0125]

[0126] in, are the proportional control gains of the angles of the first cable and the second cable, respectively, are the damping control gains for the angles of the first cable and the second cable, respectively.

[0127] The length control of the second cable is expressed as:

[0128]

[0129] in, is the proportional control gain for the length of the second cable, The damping control gain is the length of the second cable.

[0130] The attitude control of the UAV is expressed as:

[0131]

[0132] in, is the proportional gain of the UAV attitude control, is the damping gain of the UAV attitude control.

[0133] Preferably, the specific model also includes verification of the swing control effect, specifically: using the Lyapunov method to verify the stability of the swing suppression control effect of the drone. If the stability does not meet the preset standards, the parameters of the secondary swing control model are adjusted according to the verification results, and the swing cable is readjusted.

[0134] The verification process is:

[0135] Define the total energy function (Lyapunov function) of the system:

[0136]

[0137] Among them, e x ,e y ,e z They are the position errors of the drone in the x, y, and z directions, are the swing angle errors, is the error in rope length.

[0138] Its time derivative is:

[0139]

[0140] Substitute the data for attitude control of the drone into the following equation:

[0141]

[0142] Because k x ,d x ,k y ,d y ,k z ,d z ,…are all positive values, so When the absolute value of the derivative is less than the preset maximum derivative threshold, it means that the system is asymptotically stable and meets the stability standard.

[0143] like Figure 2 As shown, Figure 2 The control structure diagram of the UAV suspension control system provided by the embodiment of the present invention is shown. The controller of the UAV suspension control system of this embodiment can be an onboard computer, which is used for modeling and calculating control data. The binocular camera is used as an image acquisition device to obtain the cycloid state information below, and the tension sensor is used to detect the force condition of the cycloid. The system also includes a Z-axis gimbal, which can realize the vertical rotation of the lens. Combined with the binocular camera, more accurate cycloid information can be captured. A cable adjuster is provided at the upper end of the second cable, and the cable adjuster includes a bobbin, a bobbin motor for driving the bobbin, and a motor responsible for movement in the Y-axis direction. The weight to be suspended is connected below the bobbin through a second cable.

[0144] The UAV suspension control system of the present invention integrates visual detection, angle and rope length sensors, obtains the position and posture information of the cargo in real time according to the coordinated feedback of multi-source data, and controls the swing of the UAV suspension cable in combination with the angle sensing data and rope length information, thereby enhancing the adaptability and robustness of the system in complex environments; the suspension system is modeled as a two-stage pendulum system composed of a rigid link and a flexible rope, and the swing angle of the cable is controlled by utilizing the constraint characteristics of the rigid link, thereby effectively improving the control accuracy of the system.

[0145] The embodiment of the present invention further provides a method for controlling the suspension of a drone, which is applied to the above-mentioned method for controlling the suspension of a drone. Figure 4 This is a flowchart of the steps of the drone suspension control method according to an embodiment of the present invention, including steps S11-S13:

[0146] S11, obtaining position information data obtained by the positioning chip, angle data obtained by the angle detection sensor, and length data obtained by the cable adjuster during the operation of the drone.

[0147] S12. Constructing a secondary swing control model according to the position information data, the angle data and the length data.

[0148] S13, running the secondary swing control model according to the real-time data of the UAV, and adjusting the angle and length of the swing cable in real time according to the output result of the secondary swing control model.

[0149] Preferably, before obtaining the position information data obtained by the positioning chip, the angle data obtained by the angle detection sensor, and the length data obtained by the cable adjuster during the operation of the drone, the method further includes:

[0150] In response to the acquired UAV attitude calibration control instruction, the UAV body is controlled to be initialized.

[0151] During the initialization process of the drone body, the collected drone operation data is analyzed.

[0152] According to the analysis result, a posture calibration signal of the drone body is generated, and the posture calibration signal includes at least one of the following: a voltage control signal or a current control signal.

[0153] Preferably, after generating the attitude calibration signal of the drone body according to the analysis result, the method further includes:

[0154] Perform big data analysis on sensor data to calibrate the initial sensor data.

[0155] Preferably, the method further comprises:

[0156] The Lyapunov method is used to verify the stability of the UAV's swing suppression control effect. If the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification results, and the swing cable is readjusted.

[0157] The process of using the Lyapunov method to verify the stability of the UAV's swing suppression control effect includes:

[0158] Define a Lyapunov function, and obtain its time derivative according to the Lyapunov function;

[0159] It is determined whether the time derivative is less than a preset maximum derivative threshold value. If so, the stability of the control effect of the swing suppression meets the standard.

[0160] like Figure 3 As shown, Figure 3 A control process diagram of a UAV suspension control system provided by an embodiment of the present invention is shown. The UAV suspension control system proposed in this embodiment calculates the desired position of the UAV and the desired position of the load through a controller, controls the position of the UAV according to the calculated desired position of the UAV, performs thrust calculation and desired attitude calculation on the UAV, and controls the UAV body according to the thrust calculation results and the desired attitude calculation results, wherein the desired attitude of the UAV is realized by an inner loop controller inside the UAV.

[0161] The controller determines the expected angle and the expected rope length according to the calculated expected position of the load, and then controls the first cable and the second cable according to the expected angle and the expected rope length.

[0162] The system sets up sensors at each key node. The sensors feed back the collected information flow to the controller to obtain the response transition process of UAV control. According to the response transition process, the subsequent UAV control method can be optimized and adjusted.

[0163] like Figure 5 As shown, Figure 5 The control flow chart of the UAV suspension control system provided by the embodiment of the present invention is shown. The UAV collects multi-source data during flight, and performs fusion and weighted processing on the collected data through the controller, wherein the device for collecting data includes at least a tension sensor, a binocular camera, and an encoding motor, etc. A model is constructed based on the processed data to calculate the load status and other data of the UAV, and the flight status of the UAV, such as the attitude, speed, and position, is monitored based on the calculated data. The UAV is dynamically adjusted during flight, wherein the dynamic adjustment includes operations such as cable adjustment and gimbal attitude control of the UAV based on the data output by the model.

[0164] During the operation of the drone, the controller will always control other modules in the system to continuously monitor and dynamically adjust the drone as a whole, maintain the coordinated operation of the drone and the suspension structure when the drone is operating normally, and when abnormal information is detected, turn on abnormal protection, trigger abnormal events, and pause or adjust parameters according to different abnormal events.

[0165] The technical features and technical effects of the method proposed in the embodiment of the present invention are the same as those of the system proposed in the embodiment of the present invention, and are not described in detail here. Each step in the above method can be implemented in whole or in part by software, hardware, and a combination thereof. The above method steps can be embedded in or independent of the controller in the drone device in the form of hardware, or can be stored in the memory in the controller in the form of software, so that the drone controller can call and execute the methods corresponding to the above steps.

[0166] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A UAV suspension control system, characterized in that: It includes a controller and a drone body, a swing cable, an angle detection sensor and a cable adjuster respectively controlled by the controller; The swing cable includes a first cable and a second cable, the first cable is a rigid cable, the second cable is a flexible cable, one end of the first cable is connected to the drone body, the other end of the first cable is connected to one end of the second cable, and the other end of the second cable is provided with a cargo suspension interface; A section of the first cable is also provided with an angle detection sensor; A section of the second cable is also provided with the cable adjuster; The controller is configured to analyze a secondary swing control model of the UAV suspension control system constructed by receiving position information data of the UAV body, angle data output by the angle detection sensor, and length data of the second cable output by the cable adjuster, and control the current state of the first cable and / or the second cable accordingly according to the analysis result.

2. The UAV suspension control system according to claim 1, characterized in that: The correspondingly controlling the current state of the first cable and / or the second cable according to the analysis result includes: If it is detected that the analysis result meets the first state control mode condition, outputting the angle control signal of the first cable; If it is detected that the analysis result meets the second state control mode condition, outputting a length control signal of the second cable; If it is detected that the analysis result meets the condition of the third state control mode, an angle control signal of the first cable and a length control signal of the second cable are output respectively.

3. The UAV suspension control system according to claim 1, characterized in that: The secondary swing control model is constructed by controlling the position of the UAV, the swing control of the first cable and the second cable, the length control of the second cable and the attitude control of the UAV; The UAV position control is expressed as: Among them, k x ,k y ,k z is the proportional control gain of the UAV position, d x ,d y ,d z is the damping control gain of the UAV position, e x ,e y ,e z is the position error of the UAV, is the speed error of the UAV; The swing control of the first cable and the second cable is expressed as: in, are the proportional control gains of the angles of the first cable and the second cable, respectively, damping control gains for the angles of the first cable and the second cable, respectively; The length control of the second cable is expressed as: in, is the proportional control gain for the length of the second cable, a damping control gain for the length of the second cable; The attitude control of the UAV is expressed as: in, is the proportional gain of the UAV attitude control, is the damping gain of the UAV attitude control.

4. The UAV suspension control system according to claim 1, characterized in that: The system also includes an image acquisition device; The image acquisition device is arranged below the drone body.

5. The UAV suspension control system according to claim 4, characterized in that: The controller is also configured to: The cycloid image data output by the image acquisition device is received, and the angle data and the length data are calibrated according to the cycloid image data.

6. A method for controlling the suspension of a UAV, applied to the UAV suspension control system according to any one of claims 1 to 5, comprising: Acquire the position information data obtained by the positioning chip, the angle data obtained by the angle detection sensor, and the length data obtained by the cable adjuster during the operation of the drone; Constructing a secondary swing control model according to the position information data, the angle data and the length data; The secondary swing control model is run according to the real-time data of the UAV, and the angle and length of the swing cable are adjusted in real time according to the output result of the secondary swing control model.

7. The method for controlling the suspension of an unmanned aerial vehicle according to claim 6, wherein: Before obtaining the position information data obtained by the positioning chip, the angle data obtained by the angle detection sensor, and the length data obtained by the cable adjuster during the operation of the drone, the method further includes: In response to the acquired UAV attitude calibration control instruction, controlling the UAV body to initialize; During the initialization process of the drone body, analyzing the collected drone operation data; According to the analysis result, a posture calibration signal of the drone body is generated, and the posture calibration signal includes at least one of the following: a voltage control signal or a current control signal.

8. The method for controlling the suspension of an unmanned aerial vehicle according to claim 7, wherein: After generating the attitude calibration signal of the drone body according to the analysis result, the method further includes: Perform big data analysis on sensor data to calibrate the initial sensor data.

9. The method for controlling the suspension of an unmanned aerial vehicle according to claim 6, wherein: The method further comprises: The Lyapunov method is used to verify the stability of the UAV's swing suppression control effect. If the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification results, and the swing cable is readjusted.

10. The UAV suspension control method according to claim 9, characterized in that: The stability verification of the swing suppression control effect of the UAV using the Lyapunov method includes: Define a Lyapunov function, and obtain its time derivative according to the Lyapunov function; It is determined whether the absolute value of the time derivative is less than a preset maximum derivative threshold value. If so, the stability of the control effect of the swing suppression meets the standard.

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