一种纵列式无人机吊载系统载荷状态估计与控制方法
By using a force sensor-based tandem UAV sling system, combined with a Kalman filter and a nonlinear backstepping controller, the problems of load state monitoring accuracy and disturbance compensation in rotary-wing UAV sling systems were solved, achieving high-precision load state estimation and real-time control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI JIAOTONG UNIV
- Filing Date
- 2025-05-13
- Publication Date
- 2026-07-17
AI Technical Summary
Existing rotary-wing UAV sling systems suffer from problems in load status monitoring, such as sensor installation affecting motion, outdoor lighting affecting performance, and algorithm failure, making it difficult to achieve high-precision load status estimation and effective disturbance compensation.
A tandem UAV sling load system based on force sensors is adopted. By establishing a dynamic model, combining a Kalman filter and a nonlinear backstepping controller, and using multi-axis force sensors to measure cable tension, load state estimation is achieved. Furthermore, a control algorithm with disturbance compensation and saturation characteristics is designed.
It achieves high-precision load state estimation under complex external disturbances, reduces the complexity of sensor installation, and has real-time performance and robustness. It can effectively cope with external disturbances and complex operating scenarios during the hoisting process and meet the precise control requirements of UAV hoisting systems.
Smart Images
Figure CN120469310B_ABST