An unmanned aerial vehicle suspension control system and method

Abstract

The application discloses a kind of unmanned plane suspension control system and control method, including controller and respectively controlled unmanned plane main body, swing cable, angle detection sensor and cable adjuster of the controller;The controller is configured as: the position information data of the unmanned plane main body received, the angle data of the angle detection sensor output and the length data of the second cable output by the cable adjuster are analyzed to the secondary swing control model of the unmanned plane suspension control system constructed, and the current state of the first cable and / or the second cable is controlled according to the analysis result.The application integrates visual detection, angle and rope length sensor, carries out swing control to unmanned plane suspension cable, models suspension system as the secondary swing system of rigid link and flexible rope combination, controls the swing angle of cable by using the constraint characteristics of rigid link, effectively improves the control precision of system.

Description

TECHNICAL FIELD

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

[0002] With the development of unmanned aerial vehicle flight technology, its application field is continuously broadened, from simple aerial photography, terrain mapping to cargo transportation, emergency rescue and even high-altitude operation and other complex scenes.

[0003] Unmanned aerial vehicle suspension control has also become an important function unmanned aerial vehicle module, the suspension system suspends the cargo below the unmanned aerial vehicle through the cable, which can effectively avoid obstacles, reduce air resistance during flight, and improve the stability of the unmanned aerial vehicle during flight by increasing the mass. In the unmanned aerial vehicle suspension system, the control of the suspension cable is crucial, and reasonable cable length adjustment and swing angle control can effectively reduce the swing of the cargo under external disturbances such as wind, and improve the stability of the unmanned aerial vehicle flight and the accuracy of the capture.

[0004] Therefore, how to effectively control the stability of the unmanned aerial vehicle suspension system has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] The present application provides an unmanned aerial vehicle suspension control system and method to improve the swing suppression effect during unmanned aerial vehicle cargo transportation.

[0006] In order to solve the above technical problems, the present application provides an unmanned aerial vehicle suspension control system, which comprises a controller and an unmanned aerial vehicle body, a swing cable, an angle detection sensor and a cable adjuster controlled by the controller.

[0007] The swing cable comprises a first cable and a second cable, the first cable is a rigid cable, and the second cable is a flexible cable, one end of the first cable is connected to the unmanned aerial vehicle 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 also provided with an angle detection sensor.

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

[0010] The controller is configured to analyze the second swing control model of the unmanned aerial vehicle suspension control system constructed by the received position information data of the unmanned aerial vehicle body, the angle data output by the angle detection sensor and the 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 according to the analysis result.

[0011] Further, the current state of the first cable and / or the second cable is controlled according to the analysis result, including:

[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 third state control mode condition, an angle control signal of the first cable and a length control signal of the second cable are respectively output.

[0015] Further, the secondary swing control model is constructed by unmanned aerial vehicle position control, swing control of the first cable and the second cable, length control of the second cable and attitude control of the unmanned aerial vehicle.

[0016] The unmanned aerial vehicle position control is represented as:

[0017]

[0018] Wherein, k x ,k y ,k z is the proportional control gain of the unmanned aerial vehicle position, d x ,d y ,d z is the damping control gain of the unmanned aerial vehicle position, e x ,e y ,e z is the position error of the unmanned aerial vehicle, is the speed error of the unmanned aerial vehicle.

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

[0020]

[0021] Wherein, are the proportional control gains of the angles of the first cable and the second cable, are the damping control gains of the angles of the first cable and the second cable.

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

[0023]

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

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

[0026]

[0027] wherein, a proportional gain for the UAV attitude control, a damping gain for the UAV attitude control.

[0028] Further, the system further comprises an image acquisition device;

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

[0030] Further, the controller is further configured to:

[0031] receive the cycloidal image data output by the image acquisition device, and calibrate the angle data and the length data according to the cycloidal image data.

[0032] Another embodiment of the present application provides a UAV suspension control method, comprising:

[0033] obtaining position information data obtained by a positioning chip, angle data obtained by an angle detection sensor, and length data obtained by a cable adjuster during UAV operation.

[0034] constructing a two-stage swing control model according to the position information data, the angle data, and the length data.

[0035] running the two-stage swing control model according to real-time data of the UAV, and adjusting the angle and the length of the swing cable in real time according to the output result of the two-stage swing control model.

[0036] Further, before the obtaining position information data obtained by a positioning chip, angle data obtained by an angle detection sensor, and length data obtained by a cable adjuster during UAV operation, the method further comprises:

[0037] in response to the obtained UAV attitude calibration control instruction, controlling the UAV body to initialize.

[0038] During the initialization process of the UAV body, analyzing the collected UAV operation data.

[0039] According to the analysis result, generating an attitude calibration signal of the UAV body, the attitude calibration signal at least comprising at least one of the following: a voltage control signal or a current control signal.

[0040] Further, the generating the attitude calibration signal of the unmanned aerial vehicle body according to the analysis result further comprises:

[0041] The sensor data is subjected to big data analysis to realize calibration of the initial sensor data.

[0042] Further, the method further comprises:

[0043] The Lyapunov method is adopted to verify the stability of the swing suppression control effect of the unmanned aerial vehicle, and if the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification result, and the swing cable is adjusted again.

[0044] Further, the Lyapunov method is adopted to verify the stability of the swing suppression control effect of the unmanned aerial vehicle, and if the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification result, and the swing cable is adjusted again.

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

[0046] It is judged whether the time derivative is less than a preset maximum derivative threshold value, and if yes, the stability of the swing suppression control effect meets the standard.

[0047] Compared with the prior art, the beneficial effects of the embodiment of the present application are at least one of the following:

[0048] (1) The visual detection, angle and rope length sensors are integrated, the position and attitude information of the goods are obtained in real time according to the cooperative feedback of multi-source data, the swing control of the unmanned aerial vehicle suspension cable is performed in combination with the angle sensor data and the rope length information, and the adaptability and robustness of the system in a complex environment are enhanced.

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

[0050] Figure 1 The structure schematic diagram of the unmanned aerial vehicle suspension control system provided by the embodiment of the present application is shown;

[0051] Figure 2 The control structure diagram of the unmanned aerial vehicle suspension control system provided by the embodiment of the present application is shown;

[0052] Figure 3 The control process diagram of the unmanned aerial vehicle suspension control system provided by the embodiment of the present application is shown;

[0053] Figure 4 The step flow chart of the unmanned aerial vehicle suspension control method provided by the embodiment of the present application is shown;

[0054] Figure 5 The control flow chart of the unmanned aerial vehicle suspension control system provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0056] In the description of the present application, the terms "first", "second", "third" and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third" and the like can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0057] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions used herein are for the purpose of description only, and cannot be understood as indicating or implying 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 limiting the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those skilled in the art, the specific meaning of the above terms in the present application can be understood in specific cases.

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

[0059] An embodiment of the present application provides an unmanned aerial vehicle suspension control system, specifically, please refer to Figure 1 ,Figure 1 A structural schematic diagram of a UAV suspension control system provided by an embodiment of the application is shown, including a controller and a UAV body, a swing cable, an angle detection sensor and a cable adjuster controlled by the controller respectively.

[0060] The swing cable includes a first cable and a second cable, the first cable is a rigid cable, and the second cable is a flexible cable, one end of the first cable is connected with the UAV body, the other end of the first cable is connected with 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 two-stage swing control model of the UAV suspension control system constructed by the received position information data of the UAV body, the angle data output by the angle detection sensor and the 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 according to the analysis result.

[0064] In the existing UAV suspension system, the control method is often based on a single feedback source. Either only rely on cable length control or only rely on swing angle control, lack of collaborative control mechanism, therefore, the embodiment proposes a UAV suspension control system based on two-stage swing control model, which enhances the flexibility of the system, improves the control accuracy and adapts to complex environment.

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

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

[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, the third state control mode is controlled, and 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. The angle swing threshold and the cable length threshold are determined according to the specific model of the unmanned aerial vehicle, the flight speed, the wind force information, the weight of the suspended goods, and the swing parameter state and other information.

[0068] Specifically, the system further comprises an image acquisition device arranged below the unmanned aerial vehicle body, for acquiring information of the first cable, the second cable and the goods below.

[0069] The controller receives the swing image data collected by the image acquisition device, and the swing image data is used to calibrate the swing 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] Suppose the mass of the unmanned aerial vehicle is m Q , the spatial coordinates are (x Q , y Q , z Q ), and it can move freely in three-dimensional space. An unmanned aerial vehicle suspends a secondary swing cable, which is divided into a first cable and a second cable. The first cable is a controllable angle holder, which is a rigid rod with a length of l1 and a mass of m1. The second cable is a flexible cable with a length of l2, which is connected to the end of the first cable. The end of the second cable is provided with a goods suspension interface, and the mass of the goods suspended during the operation of the unmanned aerial vehicle is m L .

[0072] θ x1 is the angle between the first cable and the plane Z W O W Y W , and θ y1 is the angle between the first cable and the plane Z W O W X W .

[0073] θ x2 is the angle between the second cable and the plane Z W O W Y W , and θ y2 is the angle between the second cable and the plane Z W O W X W .

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

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

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

[0085] The generalized force in the x Q direction:

[0086]

[0087] The generalized force in the y Q direction:

[0088]

[0089] The generalized force in the z Q direction:Generalized force in direction of

[0090]

[0091] θ x1 Generalized force in direction of

[0092]

[0093] θ y1 Generalized force in direction of

[0094]

[0095] θ x2 Generalized force in direction of

[0096]

[0097] θ y2 Generalized force in direction of

[0098]

[0099] Generalized force in direction of rope length l2

[0100]

[0101] Therefore the total kinetic energy of the system is composed of three parts, including the kinetic energy of the UAV, the kinetic energy of the first cable and the kinetic energy of the second cable.

[0102] The kinetic energy of the UAV is:

[0103]

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

[0105] The translational kinetic energy of the first cable is:

[0106]

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

[0108]

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

[0110]

[0111] The total potential energy V of the system is determined by the height 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 second cable end point is:

[0115] V2 = m L gz2

[0116] Substitute the generalized coordinates of the system into the Lagrange equation, derive the dynamic equation of the system, and obtain the generalized force of the air resistance:

[0117]

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

[0119] According to the above dynamic relationship, the secondary swing control model of the unmanned aerial vehicle during the suspension operation process is obtained.

[0120] The secondary swing control model mainly realizes the control of the system from four aspects: unmanned aerial vehicle position control, first cable and second cable swing control, second cable length control, and unmanned aerial vehicle attitude control.

[0121] The unmanned aerial vehicle position control is represented as:

[0122]

[0123] where k x ,k y ,k z is the proportional control gain of the unmanned aerial vehicle position, d x ,d y ,d z is the damping control gain of the unmanned aerial vehicle position, e x ,e y ,e z is the position error of the unmanned aerial vehicle, is the speed error of the unmanned aerial vehicle.

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

[0125]

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

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

[0128]

[0129] wherein, is a proportional control gain of the length of the second cable, is a damping control gain of the length of the second cable.

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

[0131]

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

[0133] Preferably, the specific model further comprises verification of the swing control effect, specifically: using Lyapunov method to verify the stability of the swing suppression control effect of the UAV, if the stability does not meet the preset standard, adjusting the parameters of the secondary swing control model according to the verification result, and readjusting the swing cable.

[0134] The process of verification is:

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

[0136]

[0137] wherein, e x ,e y ,e z are the position errors of the UAV in x, y, z directions respectively, are the errors of the swing angle respectively, is the error of the rope length.

[0138] The time derivative thereof is:

[0139]

[0140] Substitute the data of the attitude control of the UAV to obtain:

[0141]

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

[0143] As shown in Figure 2 Figure 2 A control structure diagram of a UAV suspension control system provided by an embodiment of the application is shown, the controller of the UAV suspension control system of the embodiment can be an airborne computer, used for modeling and calculating control data, a binocular camera is used as an image acquisition device, used for acquiring the state information of the pendulum below, and a tension sensor is used for detecting the force condition of the pendulum.The system further comprises a Z-axis holder, the Z-axis holder can realize vertical rotation of the lens, and in combination with the binocular camera, more accurate pendulum information can be captured.

[0144] The UAV suspension control system of the application integrates visual detection, angle and rope length sensors, acquires the position and attitude information of the goods in real time according to the cooperative feedback of multi-source data, controls the swinging of the UAV suspension cable in combination with the angle sensor data and the rope length information, and enhances the adaptability and robustness of the system in a complex environment. The suspension system is modeled as a two-stage pendulum system composed of a rigid link and a flexible rope, the swinging angle of the cable is controlled by using the constraint characteristics of the rigid link, and the control precision of the system is effectively improved.

[0145] The embodiment of the application further provides a UAV suspension control method applied to the UAV suspension control method described above, Figure 4 A step flowchart of the UAV suspension control method of the embodiment of the application is shown, comprising steps S11-S13.

[0146] S11, acquiring position information data obtained by a positioning chip, angle data obtained by an angle detection sensor and length data obtained by a cable adjuster during the working process of a UAV.

[0147] S12, constructing a two-stage swinging control model according to the position information data, the angle data and the length data.

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

[0149] Preferably, before acquiring 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 working process of the UAV, the method further comprises:

[0150] In response to the acquired unmanned aerial vehicle attitude calibration control instruction, the unmanned aerial vehicle main body is controlled to initialize.

[0151] During the initialization process of the unmanned aerial vehicle main body, the collected unmanned aerial vehicle operation data is analyzed.

[0152] According to the analysis result, the attitude calibration signal of the unmanned aerial vehicle main body is generated, and the attitude calibration signal at least 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 unmanned aerial vehicle main body according to the analysis result, the method further comprises:

[0154] The sensor data is analyzed by big data analysis to calibrate the initial sensor data.

[0155] Preferably, the method further comprises:

[0156] The Lyapunov method is used to verify the stability of the swing suppression control effect of the unmanned aerial vehicle, and if the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification result, and the swing cable is adjusted again.

[0157] The process of verifying the stability of the swing suppression control effect of the unmanned aerial vehicle by using the Lyapunov method comprises:

[0158] A Lyapunov function is defined, and a time derivative thereof is obtained according to the Lyapunov function.

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

[0160] As shown in Figure 3 As shown in Figure 3 The control process diagram of the unmanned aerial vehicle suspension control system provided by the embodiment of the application is shown, the unmanned aerial vehicle suspension control system proposed by the embodiment calculates the desired position of the unmanned aerial vehicle and the desired position of the load through a controller, controls the position of the unmanned aerial vehicle according to the calculated desired position of the unmanned aerial vehicle, calculates the thrust of the unmanned aerial vehicle and the desired attitude, and controls the unmanned aerial vehicle main body according to the calculation results of the thrust and the desired attitude, wherein the desired attitude of the unmanned aerial vehicle is realized through an inner loop controller in the unmanned aerial vehicle.

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

[0162] The system sets sensors at various key nodes, and the sensors feed back the collected information flow to the controller to obtain a response transition process of the UAV regulation, and the subsequent UAV control method can be optimized and adjusted according to the response transition process.

[0163] As Figure 5 shown, Figure 5 A control flow diagram of a UAV suspension control system provided by an embodiment of the application is shown, and the UAV collects multi-source data during flight and fuses and processes the collected data through a controller, wherein the data collecting device at least includes a tension sensor, a binocular camera and a coded motor, etc.A model is constructed according to the processed data, and is used to calculate the load state and other data of the UAV, and the flight state such as the attitude, speed and position of the UAV is monitored according to the calculated data.The UAV is dynamically adjusted during flight, wherein the dynamic adjustment includes cable adjustment, gimbal attitude control and other operations of the UAV according to the data output by the model.

[0164] During the operation of the UAV, the controller continuously controls other modules in the system to continuously monitor and dynamically adjust the UAV as a whole, and the UAV and the suspension structure are kept in cooperative operation when the UAV is normally operated, and when abnormal information is detected, abnormal protection is started, an abnormal event is triggered, and operations such as pausing or adjusting parameters are performed according to different abnormal events.

[0165] The technical features and technical effects of the method provided by the embodiment of the application are the same as those of the system provided by the embodiment of the application, and are not described here.The various steps in the above method can be realized by software, hardware and their combination in whole or in part.The above method steps can be embedded in or independent of the controller in the UAV device in hardware form, or can be stored in the memory in the controller in software form, so that the controller of the UAV can call and execute the method corresponding to the above steps.

[0166] The above-described embodiments only express several embodiments of the application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent of the application.It should be pointed out that for ordinary skilled in the art, without departing from the concept of the application, a number of modifications and improvements can be made, which are within the scope of protection of the application.Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A drone suspension control system, characterized by, The system comprises a controller and a UAV body, a swing cable, an angle detection sensor and a cable adjuster, which are respectively controlled by the controller; The swing cable comprises 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 with the UAV body, the other end of the first cable is connected with one end of the second cable, and the other end of the second cable is provided with a cargo suspension interface; One section of the first cable is further provided with the angle detection sensor; One section of the second cable is further provided with the cable adjuster; The controller is configured to analyze a second swing control model of the UAV suspension control system constructed by the received position information data of the UAV body, the angle data output by the angle detection sensor and the length data of the second cable output by the cable adjuster, and to control the current state of the first cable and / or the second cable according to the analysis result; The second swing control model is constructed by 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; The UAV position control is represented as: wherein k x , k y , k z is a proportional control gain for the position of the UAV, d x , d y , d z is a damping control gain for the position of the UAV, e x , e y , e z is a position error of the UAV, is a speed error of the UAV; The swing control of the first cable and the second cable is represented as: wherein, Kp1, Kp2, Kd1, and Kd2 are, respectively, proportional control gains and damping control gains of the angles of the first and second cables, Kp1, Kp2, Kd1, and Kd2 are, respectively, proportional control gains and damping control gains of the angles of the first and second cables, The length control of the second cable is represented as: wherein, is a proportional control gain for the length of the second cable, is a damping control gain for the length of the second cable; The attitude control of the UAV is represented as: wherein, is a proportional gain for the UAV attitude control, is a damping gain for the UAV attitude control.

2. The drone suspension control system of claim 1, wherein, The control of the current state of the first cable and / or the second cable according to the analysis result comprises: If the analysis result meets the first state control mode condition, the angle control signal of the first cable is outputted; If the analysis result meets the second state control mode condition, the length control signal of the second cable is outputted; If the analysis result meets the third state control mode condition, the angle control signal of the first cable and the length control signal of the second cable are respectively outputted.

3. The drone suspension control system of claim 1, wherein, The system further comprises an image acquisition device; The image acquisition device is arranged below the UAV body.

4. The drone suspension control system of claim 3, wherein, The controller is further configured to: Receive the swing image data output by the image acquisition device, and calibrate the angle data and the length data according to the swing image data.

5. A UAV suspension control method applied to the UAV suspension control system of any one of claims 1-4, comprising: obtaining position information data obtained by a positioning chip, angle data obtained by an angle detection sensor and length data obtained by a cable adjuster during UAV operation; constructing a second swing control model according to the position information data, the angle data and the length data; running the second swing control model according to 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 second swing control model. 6.The UAV suspension control method of claim 5, wherein, Before the step of 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 UAV operation, the method further comprises: controlling the UAV body to initialize in response to the obtained UAV attitude calibration control instruction; In the initialization process of the unmanned aerial vehicle body, the collected unmanned aerial vehicle operation data is analyzed; According to the analysis result, the attitude calibration signal of the unmanned aerial vehicle body is generated, and the attitude calibration signal at least includes at least one of the following signals: voltage control signal or current control signal. 7.The UAV suspension control method of claim 6, wherein, After the attitude calibration signal of the unmanned aerial vehicle body is generated according to the analysis result, the method further comprises: The sensor data is analyzed by big data analysis to calibrate the initial sensor data. 8.The UAV suspension control method of claim 5, wherein, The method further comprises: Lyapunov method is used to verify the stability of the swing suppression control effect of the unmanned aerial vehicle, and if the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification result, and the swing cable is adjusted again. 9.The UAV suspension control method of claim 8, wherein, The Lyapunov method is used to verify the stability of the swing suppression control effect of the unmanned aerial vehicle, and if the stability does not meet the preset standard, the parameters of the secondary swing control model are adjusted according to the verification result, and the swing cable is adjusted again. The Lyapunov function is defined, and the time derivative thereof is obtained according to the Lyapunov function; If the absolute value of the time derivative is less than the preset maximum derivative threshold, the stability of the swing suppression control effect meets the standard.

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