An integrated super-helical sliding mode control method for de-icing UAV posture

Abstract

The present invention relates to a method for controlling the posture of an integrated super-helical sliding mode for a de-icing UAV. The method comprises: establishing a dynamic and kinematic model of the de-icing UAV; establishing a disturbance model for the wind field disturbance and ice layer collision impact experienced by the de-icing UAV; introducing dual quaternions and modified Rodriguez parameters to describe the dynamic and kinematic model and disturbance model of the de-icing UAV based on the dual modified Rodriguez parameters, and establishing an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters; constructing a posture-integrated super-helical sliding mode controller, including a sliding mode surface and a super-helical reaching law; constructing a posture-integrated control law, and solving the control force spiral of the de-icing UAV, thereby achieving integrated posture stability control of the de-icing UAV. This method can effectively suppress the disturbances experienced by the de-icing UAV during mission execution and improve the accuracy and robustness of the posture control of the de-icing UAV in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a de-icing UAV posture integrated super-helical sliding mode control method based on dual modified Rodriguez parameters. Background Art

[0002] Traditional de-icing drone modeling uses a method that separates position dynamics from attitude dynamics. Its attitude control also uses a separate, decoupled control approach. Separate attitude control leads to the neglect of attitude coupling relationships, ultimately reducing control effectiveness. Furthermore, when the drone is performing de-icing tasks, wind field disturbances and ice layer collisions significantly affect the drone's attitude stability. Although methods such as dual quaternions can achieve integrated attitude modeling, parameter redundancy and normalization constraints increase algorithm complexity and reduce engineering applicability. In terms of control strategies, while traditional sliding mode control offers strong robustness, it requires the design of fixed-gain controllers for the position and attitude subsystems, and suffers from chattering, which results in delayed system response and increased control complexity. This makes it difficult to meet the stringent requirements of de-icing operations for system real-time performance, control accuracy, and anti-interference capabilities. Summary of the Invention

[0003] The purpose of the present invention is to provide a super-helical sliding mode control method for the posture of a de-icing UAV. This method can achieve the integrated convergence of the position and attitude of the system within a finite time through the characteristics of a high-order sliding mode, thereby effectively suppressing the disturbances suffered by the de-icing UAV during the execution of the mission and improving the accuracy and robustness of the posture control of the de-icing UAV in complex environments.

[0004] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a de-icing UAV posture integrated super-helical sliding mode control method, comprising the following steps:

[0005] Step S1: Establish the dynamics and kinematics model of the de-icing UAV; establish a disturbance model for the wind field disturbance and ice layer collision impact on the de-icing UAV; introduce dual quaternions and modified Rodriguez parameters, describe the dynamics and kinematics model and disturbance model of the de-icing UAV based on the dual modified Rodriguez parameters, and establish an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters;

[0006] Step S2: Based on the established de-icing UAV posture-integrated model, a posture-integrated super-helical sliding mode controller is constructed, including a sliding mode surface based on a high-order sliding mode and a super-helical reaching law;

[0007] Step S3: Substitute the constructed sliding surface and superhelical reaching law into the de-icing UAV posture integration model to obtain the posture integration control law, and solve the control force spiral of the de-icing UAV, thereby realizing the posture integration stability control of the de-icing UAV.

[0008] Furthermore, in step S1, based on the dynamic characteristics of the de-icing UAV, the dynamic and kinematic model of the de-icing UAV is established by the Lagrangian method, specifically:

[0009]

[0010] Among them, m is the mass of the de-icing drone, m l is the load mass, is the acceleration of the de-icing drone, l is the length of the rope hanging the load, is the coupling term, is the gravity term, For the control of de-icing drones, is the disturbance force on the de-icing drone. The moment of inertia of the de-icing drone, is the angular velocity of the de-icing drone, is the angular acceleration of the de-icing drone, is the control torque of the de-icing UAV, is the disturbance torque acting on the de-icing UAV.

[0011] Furthermore, in step S1, a disturbance model is established for the wind field disturbance and ice layer collision impact on the de-icing drone. The specific implementation method is as follows:

[0012] The wind disturbance and ice collision impact on the de-icing drone meet the following requirements:

[0013]

[0014] in, is the wind field disturbance force, w is the fluid density, C w is the drag coefficient, S is the frontal area, is the wind speed in the wind field, is the wind field disturbance torque, k b is the disturbance coefficient, l1 is the length of the UAV force arm, is the collision disturbance force, k is the generalized stiffness parameter, is the measurement constant, c r is the restitution coefficient, is the elastic coefficient, is the damping coefficient, is the relative deformation of the de-icing UAV system, is the relative deformation speed of the de-icing UAV system;

[0015] The total disturbance force and total disturbance torque received by the de-icing UAV at the moment of collision are:

[0016]

[0017] definition The perturbation force spiral in the dual modified Rodriguez parameter framework is:

[0018]

[0019] Among them, ε is the dual unit.

[0020] Furthermore, in step S1, the dual modified Rodriguez parameter and its dual vector Defined as:

[0021]

[0022] in, To correct the Rodriguez parameter, for The antisymmetric form of is the system position, I is the unit matrix, is a quaternion, is a dual quaternion, satisfying:

[0023]

[0024] in, and They are The real and dual parts of for The derivative of is the dual velocity vector The dual quaternion form of ;

[0025] Due to the dual quaternion Normalization constraints must be met ,remember for The conjugated form Substituting this into the formula we get:

[0026] .

[0027] Furthermore, in step S1, define B as the local system, U as the inertial system, and D as the desired system, and establish an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters, specifically:

[0028]

[0029] in, In this system, the relative dual modified Rodrigues parameter of this system relative to the expectation system is expressed as follows: for The superscript of the parameter indicates the reference coordinate system used in the current description, and the subscript indicates the relative motion relationship; Indicates the dual velocity of this system relative to the desired system in this system, for In vector form, for The derivative of It represents the dual velocity vector of this system relative to the inertial system in this system; In this system, the dual velocity vector of the desired system relative to the inertial system is The derivative of is the mass operator of the UAV, is the mass operator of the load, l is the length of the rope hanging the load; In this system, it represents the coupling term of this system relative to the desired system. It represents the gravity term of this system relative to the desired system in this system; It represents the control force spiral of this system relative to the desired system in this system; It represents the perturbation force spiral of this system relative to the desired system in this system.

[0030] Furthermore, in step S2, the sliding mode surface and superhelical reaching law based on the high-order sliding mode in the posture-integrated superhelical sliding mode controller are:

[0031]

[0032] in, represents the dual vector of the sliding surface, represents the dual vector of the reaching law; It represents the dual velocity vector of the system relative to the desired system in this system; 、 、 Both are control dual coefficient operators; is the duality vector for the duality-corrected Rodriguez parameter; is the vector form of the quaternion; is the superhelical dynamic integral term in the dual form; is the hyperbolic tangent function, is the saturation threshold;

[0033] Based on the de-icing UAV posture integrated model constructed in step S1, the dual velocity is calculated , and then the sliding surface is designed.

[0034] Furthermore, in step S3, the sliding surface and superhelical reaching law constructed in step S2 are substituted into the de-icing UAV posture integration model to obtain the de-icing UAV posture integration control law, and then the control force spiral of the de-icing UAV is solved as follows:

[0035] .

[0036] The present invention also provides a de-icing UAV posture integrated super-helical sliding mode control system, which includes a memory, a processor, and computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the computer program instructions, the above-mentioned method can be implemented.

[0037] Compared with the existing technology, the present invention has the following beneficial effects: the present invention proposes an integrated super-helical sliding mode control method for the de-icing UAV posture based on the dual modified Rodriguez parameters. Compared with the traditional separate modeling method, the present invention realizes the integrated description of the position dynamics and attitude dynamics of the de-icing UAV. By unifying the translation vector and the rotation parameter into the dual modified Rodriguez parameter description, the parameter redundancy and normalization constraint problems existing in the dual quaternion method are overcome, and the calculation efficiency and control accuracy are significantly improved; at the same time, the existing UAV integrated modeling technology has not yet been designed for the environment in which the de-icing UAV operates. The method proposed in the present invention takes into account the collision impact and continuous wind field disturbance model in the de-icing operation process, and utilizes the mathematical characteristics of the dual modified Rodriguez parameters to realize the integrated description of the posture disturbance, thereby simplifying the control system structure, realizing integrated posture control, and improving the calculation efficiency, which has important application value in engineering practice. The present invention proposes a super-helical sliding mode control strategy based on the dual modified Rodriguez parameter. It adopts a continuous control structure and achieves an improvement in response speed by introducing an integral term. It also exhibits excellent vibration suppression capability, ensuring the posture control accuracy and robustness of the UAV in complex environments, and guaranteeing the flight stability and operational efficiency of the UAV during de-icing missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of a de-icing drone system according to an embodiment of the present invention;

[0039] Figure 2 are the position and attitude response curves of the UAV under wind field disturbance only in the embodiment of the present invention; wherein (a) is the UAV position response curve, and (b) is the UAV attitude response curve;

[0040] Figure 3 are the position response curves of the UAV and the load under wind field disturbance and collision disturbance in an embodiment of the present invention; wherein (a) is the position response curve of the UAV before and after the collision process, and (b) is the position response curve of the load before and after the collision process;

[0041] Figure 4 This is a schematic diagram of the implementation principle of the de-icing UAV posture integrated super-helical sliding mode control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0044] 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, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] This embodiment provides a method for controlling the posture of a de-icing UAV using an integrated super-helical sliding mode, including the following steps:

[0046] Step S1: Establish the dynamics and kinematics model of the de-icing UAV; establish a disturbance model for the wind field disturbance and ice layer collision impact on the de-icing UAV; introduce dual quaternions and modified Rodriguez parameters, describe the dynamics and kinematics model and disturbance model of the de-icing UAV based on the dual modified Rodriguez parameters, and establish an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters;

[0047] Step S2: Based on the established de-icing UAV posture-integrated model, a posture-integrated super-helical sliding mode controller is constructed, including a sliding mode surface based on a high-order sliding mode and a super-helical reaching law;

[0048] Step S3: Substitute the constructed sliding surface and superhelical convergence law into the de-icing UAV posture integration model to obtain the posture integration control law, and solve the control force spiral of the de-icing UAV to form a closed-loop de-icing UAV control system, thereby realizing the posture integration and stability control of the de-icing UAV.

[0049] The following is a further explanation of the relevant contents involved in this method.

[0050] 1. Modeling of De-icing UAV System

[0051] In the dynamic modeling of the de-icing UAV system, the UAV is treated as a rigid body. The system uses a cable-suspended load design, where the cable is assumed to be a massless, inextensible, flexible connector and is always kept taut. The load is represented as a point mass and suspended directly below the UAV's center of mass, so its movement does not affect the UAV's attitude.

[0052] In this embodiment, the de-icing drone system is as follows: Figure 1 As shown. is the UAV body coordinate system, For the cable Projection on the plane and The angle between the positive axes, For the cable Projection on the plane and The angle between the positive and negative axes.

[0053] Assume the inertial system is U and the three-axis positions are , the linear velocity and angular velocity of the UAV are and , the length of the rope hanging the load is l, then the load position and speed satisfy:

[0054]

[0055] in, for The first derivative of for The first derivative of .

[0056] The kinetic energy of the suspension system and potential energy for:

[0057]

[0058] in, is the system moment of inertia, and are the masses of the drone and the payload, is the acceleration due to gravity.

[0059] The Lagrangian function satisfies:

[0060]

[0061] Select generalized coordinates , .set up is the generalized force corresponding to each generalized coordinate, then the Lagrange equation shows that the model of the hanging UAV satisfies:

[0062]

[0063] Therefore, the model of the suspended UAV system can be obtained as follows:

[0064]

[0065] Among them, m is the mass of the de-icing drone, m l is the load mass, is the acceleration of the de-icing drone, l is the length of the rope hanging the load, is the coupling term, is the gravity term, For the control of de-icing drones, is the disturbance force on the de-icing drone. The moment of inertia of the de-icing drone, is the angular velocity of the de-icing drone, is the angular acceleration of the de-icing drone, is the control torque of the de-icing UAV, is the disturbance torque on the de-icing UAV, for The second derivative of for The second derivative of for The second derivative of for The second derivative of for The second derivative of .

[0066] Coupling term With gravity The specific description is:

[0067]

[0068] 2. Analysis of disturbance mechanism

[0069] When the quadcopter drone is carrying out de-icing tasks with a hanging load, the existence of the wind field will affect the balance state of the system. The design is based on the near-ground wind shear wind field. The wind speed satisfy:

[0070]

[0071] in, is the current flight altitude of the UAV, is the Karman constant, The roughness of the ground, is the friction speed.

[0072] The disturbance of the wind field to the system is:

[0073]

[0074] in, is the wind field disturbance force, w is the fluid density, C w is the drag coefficient, S is the frontal area, is the wind speed in the wind field, is the wind field disturbance torque, k b is the disturbance coefficient, and l1 is the length of the UAV's lever arm.

[0075] At the same time, the load will collide with the contact object during the deicing process. Considering the energy dissipation during the collision, a damping function is introduced. , substituting into the Hunt-Crossley model:

[0076]

[0077] in, is the collision disturbance force, k is the generalized stiffness parameter, is the measurement constant, c r is the restitution coefficient, is the elastic coefficient, is the damping coefficient, is the relative deformation of the de-icing UAV system, is the relative deformation velocity of the de-icing UAV system.

[0078] For ice layers on cables, the critical acceleration of ice segment breakage can be obtained from the ice peeling failure criterion:

[0079]

[0080] in, is the eccentric distance between the center of the ice profile and the center of the cable, is the density of ice, are the diameter of the cable and the outer diameter of the ice profile, respectively, 、 are the adhesive strength and cohesive strength of ice respectively.

[0081] Then the critical collision force must satisfy:

[0082]

[0083] The total disturbance force and total disturbance torque received by the de-icing UAV at the moment of collision are:

[0084]

[0085] definition The perturbation force spiral in the dual modified Rodriguez parameter framework is:

[0086]

[0087] Among them, ε is the dual unit.

[0088] 3. De-icing UAV posture integrated model based on dual modified Rodriguez parameters

[0089] Define the six-dimensional parameter duality modified Rodrigues parameter and its dual vector for:

[0090]

[0091] in, To correct the Rodriguez parameter, for The antisymmetric form of is the system position, I is the unit matrix, is a quaternion, is a dual quaternion, satisfying:

[0092]

[0093] in, and They are The real and dual parts of , ε is the dual unit, for The derivative of is the dual velocity vector The dual quaternion form of , which can be expanded to:

[0094]

[0095] Due to the dual quaternion Normalization constraints must be met , In its conjugated form, Substituting this formula into the equation, we can get:

[0096]

[0097] It can be seen that the dual quaternion in the dual modified Rodriguez parameter form does not require normalization constraints.

[0098] Combining the above formula, the dual modified Rodriguez parameter is derived as follows:

[0099]

[0100] To facilitate the description of the relationship between different coordinate systems below, For example, it represents the relative dual modified Rodriguez parameter of this system relative to the desired system in this system. Define B as this system, U as the inertial system, and D as the desired system. The superscript of the parameter represents the reference coordinate system used in the current description, and the subscript represents the relative motion relationship. The posture of the suspended UAV system in the inertial system is calculated by the rotation matrix Transformed into the body coordinate system, the relative model from this system to the inertial system is:

[0101]

[0102] In summary, the integrated dynamic model of the suspended UAV posture based on the dual modified Rodriguez parameters from the present system to the desired system is:

[0103]

[0104] in, is the mass operator of the UAV, is the mass operator of the load, l is the length of the rope hanging the load; In this system, it represents the coupling term of this system relative to the inertial system, It represents the gravity term of this system relative to the inertial system in this system; and They represent the control force spiral and disturbance force spiral of the system relative to the inertial system in this system, and the specific forms are:

[0105]

[0106] In order to facilitate the design of the control law based on the posture error, the above model is converted into a description form of the system relative to the desired system. Then the posture integrated model of the suspended UAV based on the dual modified Rodriguez parameter is:

[0107]

[0108] in, Indicates the dual velocity of this system relative to the desired system in this system, for In vector form, for The derivative of Indicates that in this system, the dual velocity vector of this system relative to the inertial system is The derivative of It represents the dual velocity vector of the desired system relative to the inertial system in this system; It represents the coupling term of this system relative to the desired system in this system; It represents the gravity term of this system relative to the desired system in this system; and They respectively represent the control force spiral and disturbance force spiral of this system relative to the inertial system in this system.

[0109] 4. Design of a super-helical sliding mode controller with integrated posture

[0110] Because traditional sliding mode control typically uses fixed gain parameters when designing the sliding surface and reaching law, it is difficult to strike a balance between system dynamic response and buffeting suppression. To address this conflict between dynamic response and buffeting suppression in traditional sliding mode control, this system designs a quadrotor UAV posture-integrated super-helical sliding mode control system based on dual modified Rodriguez parameters to improve the system's control performance, specifically targeting disturbances encountered during de-icing UAV operations.

[0111] The design of the superhelical sliding surface based on the dual modified Rodriguez parameter is:

[0112]

[0113] in, represents the dual vector of the sliding surface, is the vector form of the quaternion, is the dual vector of the modified Rodriguez parameter. To facilitate the unification of attitude and position control design and the unification of the three-channel control of attitude and position, the dual operator 、 、 satisfy:

[0114]

[0115] In the formula, the control parameter 、 and is a positive real number. For any parameter 、 , satisfy ,

[0116] Then the superhelical reaching law is:

[0117]

[0118] in, represents the dual vector of the reaching law, is the hyperbolic tangent function, is the saturation threshold, is the superhelical dynamic integral term in the dual form, which satisfies:

[0119]

[0120] 5. Design of integrated control law for posture

[0121] Substituting the constructed sliding surface and superhelical reaching law into the de-icing UAV posture integration model, the posture integration control law of the de-icing UAV is obtained, and then the control force spiral of the de-icing UAV is solved as follows:

[0122]

[0123] 6. Simulation analysis

[0124] In order to verify the proposed quadrotor de-icing UAV integrated super-spiral sliding mode controller (ST-SMC) based on dual modified Rodriguez parameters and the corresponding control method, two simulation tasks are designed in this embodiment. Task 1 is the UAV trajectory control under only wind field disturbance, and Task 2 is the UAV fixed position control under the combined disturbance of wind field and collision in the de-icing collision environment. The performance of the existing sliding mode controller (SMC) is compared with that of the present invention. The simulation results of Task 1 are shown in Figure 2. Figure 2 As shown, the simulation results of task 2 are as follows Figure 3 shown.

[0125] Depend on Figure 2 It can be seen that in the de-icing scenario, considering only wind field disturbances, the position and attitude of the integrated super-helical sliding mode control system of the suspended UAV based on the dual modified Rodriguez parameters can quickly and stably reach the desired position and attitude. Compared with the SMC controller, the ST-SMC has smaller steady-state error and stabilization time; Figure 3 The position change of the hanging UAV and the load under the composite disturbance makes the system The ST-SMC controller exhibits a finite-time convergence to disturbances due to transient collisions, and is subject to wind disturbances throughout the entire process. This results in smoother position changes and a gentler transient response than the SMC controller, demonstrating excellent adaptability. Simulation results demonstrate the effectiveness of the integrated posture modeling and super-helical sliding mode control approach for de-icing UAVs based on the dual modified Rodriguez parameter.

[0126] The control system flow chart of the de-icing UAV posture integrated super-helical sliding mode control method based on dual modified Rodriguez parameters of the present invention is as follows: Figure 4 shown.

[0127] When the control system performs pose motion planning, it first sets the UAV's target position, target attitude, and motion trajectory to achieve the target. On this basis, a corresponding composite disturbance model is established, taking into account the wind field disturbances to which the UAV is subjected in the actual flight environment and the collision impacts that may occur during de-icing operations. Subsequently, a multi-body dynamics model of the suspended UAV is constructed by combining the pose motion planning results and the disturbance model. By introducing the dual modified Rodriguez parameter, an integrated pose model of the de-icing UAV is established, enabling accurate description and real-time adjustment of the UAV's pose information. Finally, based on this integrated pose model, an integrated super-helical sliding mode control method is adopted to achieve precise control of the UAV's pose and motion, ensuring the stability and robustness of the system in complex environments.

[0128] This embodiment also provides a de-icing UAV posture integrated super-spiral sliding mode control system, including a memory, a processor, and computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the computer program instructions, the above-mentioned method can be implemented.

[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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[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 block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce 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 that can direct a computer or other programmable data processing device to work 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 1The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

Claims

1. A super-helical sliding mode control method for de-icing UAV posture integration, characterized by: The following steps are involved: Step S1: Establishing the dynamics and kinematics model of the de-icing UAV; establishing a disturbance model for the wind field disturbance and ice layer collision impact to which the de-icing UAV is subjected; By introducing dual quaternions and modified Rodriguez parameters, the dynamics, kinematics and disturbance models of the de-icing UAV are described based on the dual modified Rodriguez parameters, and an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters is established. Step S2: Based on the established de-icing UAV posture-integrated model, a posture-integrated super-helical sliding mode controller is constructed, including a sliding mode surface based on a high-order sliding mode and a super-helical reaching law; Step S3: Substitute the constructed sliding surface and superhelical reaching law into the de-icing UAV posture integration model to obtain the posture integration control law, and solve the control force spiral of the de-icing UAV to achieve the posture integration stability control of the de-icing UAV; In step S1, define B as the local system, U as the inertial system, and D as the desired system, and establish an integrated posture model of the de-icing UAV based on the dual modified Rodriguez parameters, specifically: in, In this system, the relative dual modified Rodrigues parameter of this system relative to the expectation system is expressed as follows: for The superscript of the parameter indicates the reference coordinate system used in the current description, and the subscript indicates the relative motion relationship; Indicates the dual velocity of this system relative to the desired system in this system, for In vector form, for The derivative of It represents the dual velocity vector of this system relative to the inertial system in this system; In this system, the dual velocity vector of the desired system relative to the inertial system is The derivative of is the mass operator of the UAV, is the mass operator of the load, l is the length of the rope hanging the load; In this system, it represents the coupling term of this system relative to the desired system. It represents the gravity term of this system relative to the desired system in this system; It represents the control force spiral of this system relative to the desired system in this system; It represents the perturbation force spiral of this system relative to the desired system in this system; In step S2, the sliding mode surface and superhelical reaching law based on the high-order sliding mode in the posture-integrated superhelical sliding mode controller are: in, represents the dual vector of the sliding surface, represents the dual vector of the reaching law; It represents the dual velocity vector of the system relative to the desired system in this system; Both are control dual coefficient operators; The dual vector of the modified Rodriguez parameter; o is the vector form of the quaternion; is the superhelical dynamic integral term in the dual form; tanh(·) is the hyperbolic tangent function, and l is the saturation threshold; Based on the de-icing UAV posture integrated model constructed in step S1, the dual velocity is calculated Then the sliding surface is designed; In step S3, the sliding surface and superhelical reaching law constructed in step S2 are substituted into the de-icing UAV posture integration model to obtain the de-icing UAV posture integration control law. The control force spiral of the de-icing UAV is then solved as follows:

2. The method for controlling the posture of an ice removal UAV using an integrated super-helical sliding mode according to claim 1 is characterized in that: In step S1, based on the dynamic characteristics of the de-icing UAV, the dynamic and kinematic model of the de-icing UAV is established by the Lagrangian method, specifically: Among them, m is the mass of the de-icing drone, m l is the load mass, is the acceleration of the de-icing drone, l is the length of the rope hanging the load, C is the coupling term, G is the gravity term, and f c is the control force of the de-icing UAV, f t is the disturbance force on the deicing UAV, J is the moment of inertia of the deicing UAV, ω is the angular velocity of the deicing UAV, is the angular acceleration of the de-icing UAV, τ c is the control torque of the de-icing UAV, τ t is the disturbance torque acting on the de-icing UAV.

3. The method for controlling the posture of an ice removal UAV using an integrated super-helical sliding mode according to claim 1, wherein: In step S1, a disturbance model is established for the wind field disturbance and ice layer collision impact on the de-icing drone. The specific implementation method is as follows: The wind disturbance and ice collision impact on the de-icing drone meet the following requirements: τ w -k b l1f w =0 Among them, f w is the wind field disturbance force, w is the fluid density, C w is the drag coefficient, S is the frontal area, v w is the wind speed in the wind field, τ w is the wind field disturbance torque, k b is the disturbance coefficient, l1 is the length of the UAV force arm, f p is the collision disturbance force, k is the generalized stiffness parameter, X is the measurement constant, c r is the recovery coefficient, n is the elastic coefficient, N is the damping coefficient, δ is the relative deformation of the deicing UAV system, is the relative deformation speed of the de-icing UAV system; The total disturbance force and total disturbance torque received by the de-icing UAV at the moment of collision are: f t =f p +f w t t =t w definition The perturbation force spiral in the dual modified Rodriguez parameter framework is: Among them, ε is the dual unit.

4. The method for controlling the posture of an ice removal UAV using an integrated super-helical sliding mode according to claim 1, wherein: In step S1, the dual modified Rodriguez parameter and its dual vector Defined as: Where σ is the modified Rodriguez parameter, σ Θ is the antisymmetric form of σ, r is the system position, I is the unit matrix, q is the quaternion, is a dual quaternion, satisfying: Among them, q s and q d They are The real and dual parts of for The derivative of is the dual velocity vector The dual quaternion form of ; Due to the dual quaternion Normalization constraints must be met remember for The conjugated form Substituting this into the formula we get:

5. A de-icing UAV posture integrated super-helical sliding mode control system, characterized in that: The method comprises a memory, a processor, and computer program instructions stored in the memory and capable of being executed by the processor. When the processor executes the computer program instructions, the method according to any one of claims 1 to 4 can be implemented.

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