Unmanned aerial vehicle mounting stabilizing device based on magnetic variable damping and control method thereof

Abstract

The application provides a UAV-mounted stabilizing device based on magnetic damping and a control method thereof, and aims to solve the problems of complex structure, high power consumption and poor stability of the existing swing elimination scheme. The device comprises a magnetic damping swing elimination assembly for connecting the UAV and the mounted pod assembly; the magnetic damping swing elimination assembly comprises a cross-shaped connecting shaft which can rotate in two directions, the cross-shaped connecting shaft comprises a main shaft and an auxiliary shaft which are cross-connected, one end of the main shaft and the auxiliary shaft is connected with the power output end of a magnetic damper through a speed reducer, the other end of the main shaft and the auxiliary shaft is connected with an absolute value optical encoder for collecting the rotation angle and the angular velocity, the electric energy output ends of the two magnetic dampers are electrically connected with two adjustable brake resistors through a main controller, when the mounted pod assembly swings, the main controller adjusts the resistance value of the adjustable brake resistor according to the collection data of the absolute value optical encoder, so that the damping of the magnetic damper changes, the swing of the mounted pod assembly is offset, and the stability of the mounting is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) mounting stability control technology, and in particular to a UAV mounting stability device and control method based on magnetic variable damping. Background Technology

[0002] When conducting flight tests of passive radar detection equipment, it is necessary to mount the equipment approximately 1 meter below the drone to avoid interference from electromagnetic waves reflected from the drone. Using a lanyard is unsuitable because the equipment tends to sway, making testing ineffective; therefore, a rigid pole connection is required. However, a problem arises with rigid pole connections: the equipment's swaying due to airflow or during the drone's start-stop, acceleration, and deceleration can generate disturbing torques on the drone.

[0003] To maintain the aircraft's attitude, the UAV's attitude control system will make reverse adjustments. When the adjustment frequency is close to the natural frequency of the pod's pendulum, it is very easy for resonance coupling to occur between the airborne attitude loop and the pod's swing. This can cause the UAV to shake and lose control, or even lead to it overturning and crashing.

[0004] In existing anti-sway schemes, the damping coefficient of passive dampers is fixed, making it difficult to balance "rapid energy dissipation under large disturbances" with "near-equilibrium compliant follow-up"; pure active drive schemes have complex structures, high power consumption, and stringent reliability requirements. Summary of the Invention

[0005] The purpose of this invention is to provide a stabilizing device for unmanned aerial vehicles (UAVs) based on magnetic variable damping and its control method. This addresses the technical problems of existing anti-sway schemes, such as complex structure, high power consumption, and poor stability.

[0006] First, this application provides a drone mounting stabilization device based on magnetic variable damping, including a magnetic damping anti-sway component for connecting the drone and the mounting pod assembly;

[0007] The magnetic damping anti-sway assembly includes a cross-shaped connecting shaft that can rotate in two directions. The cross-shaped connecting shaft includes a main shaft and a secondary shaft that are cross-connected. One end of the main shaft and the secondary shaft is connected to the power output end of the magnetic damper through a reducer. The other end of the main shaft and the secondary shaft is connected to an absolute optical encoder for collecting the rotation angle and angular velocity of the main shaft and the secondary shaft. The power output ends of the two magnetic dampers are electrically connected to two modulated dynamic resistors through a main controller. When the mounted pod assembly swings, the main controller adjusts the resistance value of the modulated dynamic resistors according to the data collected by the absolute optical encoder, so that the damping of the magnetic damper changes and counteracts the swing of the mounted pod assembly.

[0008] Optionally, the magnetic damping anti-sway assembly further includes a first U-shaped bracket and a second U-shaped bracket with opposite openings;

[0009] The two reducers are respectively mounted on one side wall of the first U-shaped bracket and the second U-shaped bracket, and the two absolute optical encoders are respectively mounted on the other side wall of the first U-shaped bracket and the second U-shaped bracket via bearing mounts. The second U-shaped bracket is connected to the mounting pod assembly.

[0010] Optionally, the magnetic damping anti-sway component further includes a device box, the lower end of which is connected to the first U-shaped bracket, and the upper end of which is connected to the UAV. The main controller and the modulated resistor are installed inside the device box. The main controller includes a nine-axis gyroscope for acquiring UAV parameters, as well as a rectifier, a PWM MOS driver, a charging management module, and an MCU control module.

[0011] The rectifier and PWM MOS driver are connected in series between the modulated dynamic resistor and the magnetic damper. When the mounted pod assembly swings, the PWM duty cycle output by the MCU control module to the PWM MOS driver is changed to control the input resistance value of the modulated dynamic resistor, thereby changing the damping coefficient of the magnetic damper.

[0012] Optionally, the pod assembly includes a pod body, and an array of tensile and compressive sensors for monitoring the forces acting on the pod body is installed at the top of the pod body.

[0013] One end of the lifting body is equipped with a sliding adjustable counterweight mechanism. The counterweight mechanism includes a counterweight plate arranged parallel to the side wall of one end of the lifting body. The counterweight mechanism adjusts the distance between the counterweight plate and the side wall of the lifting body according to the data collected by the tension and compression sensor array.

[0014] Optionally, the counterweight mechanism may further include a guide rod array and a counterweight adjustment motor mounted on the main body of the crane;

[0015] The counterweight plate is slidably connected to the guide rod array via a graphite bearing. A lead screw is mounted on the power shaft of the counterweight adjustment motor. A lead screw nut is mounted on the counterweight plate, and the lead screw nut is threadedly connected to the lead screw.

[0016] Optionally, the tension and compression sensor array includes four tension and compression sensors mounted on the top of the crane body, and the four tension and compression sensors are distributed in a rectangular array along the center of the upper end face of the crane body.

[0017] The mounting pod assembly also includes an X-shaped connecting bracket and a connecting rod. One end of the connecting rod is connected to the center of the upper surface of the X-shaped connecting bracket, and the four tension and compression sensors are respectively connected to the four corners of the lower surface of the X-shaped connecting bracket. The other end of the connecting rod is connected to the second U-shaped bracket.

[0018] Secondly, this application provides a control method for a UAV mounting stabilization device based on magnetic variable damping. Using the aforementioned UAV mounting stabilization device based on magnetic variable damping, the swing of the mounting pod assembly around the main axis and secondary axis is controlled by two independent parallel control links, executing steps S1-S3 for swing suppression. The specific steps are as follows:

[0019] S1: Collect the swing angle of the main spindle and the secondary spindle. and axial angular velocity And the fuselage angular velocity of the drone relative to the main and secondary axes. Regarding axial angular velocity Filtering is performed to obtain the axial angular velocity ;

[0020] S2: According to , and Size, and and The sign relationship is used to calculate the PWM duty cycle for each model, including hard protection mode, balanced rest mode and main oscillation elimination mode.

[0021] S3: The resistance value of the modulated dynamic resistor connected to the circuit is controlled according to the PWM duty cycle, so as to change the magnetic damping torque of the magnetic damper; the magnetic damping torque is used to dissipate the oscillation energy.

[0022] Optionally, the specific method in step S2 is as follows:

[0023] when When in hard protection mode, the output PWM duty cycle is: ;when and When the PWM duty cycle is in balanced rest mode, it is... ;when or At that time, according to the main anti-sway model, the PWM duty cycle is calculated using the attitude error via PID control. for:

[0024] ;

[0025] in, , and As a preset positive parameter, , , , To control the start time of the cycle. The sampling time of the current control cycle, , , , and All are preset thresholds.

[0026] Optional, when At that time, PWM duty cycle Also includes soft limit items :

[0027] ;

[0028] when At that time, PWM duty cycle It also includes coupling suppression terms. :

[0029] ;

[0030] in, The preset angle threshold, and These are preset coefficients.

[0031] Optionally, step S4 is also included: calculating the off-center load between the two ends of the pod assembly based on the data collected by the tension and compression sensor array; when the off-center load is greater than a preset threshold, driving the counterweight plate to move so that the off-center load is less than the preset threshold; the frequency of the off-center load adjustment is less than the frequency of the anti-sway adjustment.

[0032] Because of the adoption of the above technical solution, the present invention has the following advantages:

[0033] 1. This application uses an absolute optical encoder to collect the swing angle and angular velocity of the mounted pod assembly in two directions. When the mounted pod assembly swings, the resistance value of the modulated dynamic resistor is adjusted to change the damping of the magnetic damper, thereby counteracting the swing of the mounted pod assembly and improving the stability of the mounting.

[0034] 2. This application monitors the off-center load of the mounted object by setting up tension and compression sensors, and reduces the impact of the mounted object on the swing of the mounted pod assembly by setting up a counterweight plate to adjust the offset to be close to 0.

[0035] 3. This application uses the swing angle fed back by an absolute encoder. angular velocity The attitude state is used as a closed-loop feedback quantity. The PWM duty cycle is directly output through the sub-mode strategy and PID calculation, so that the damping energy consumption intensity is continuously corrected with the real-time attitude error. This suppresses the resonance between the airborne attitude loop and the pod pendulum under semi-active constraints and improves engineering reliability.

[0036] 4. This application can rapidly increase damping under large swing angle conditions and reduce damping under near-equilibrium conditions, taking into account both swing speed and follow-up performance.

[0037] 5. This application decouples the sway elimination and center of gravity adjustment, which can simultaneously reduce the sway disturbance torque and the static unbalance torque, thereby improving the overall stability of the system.

[0038] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0039] The accompanying drawings of this invention are described below.

[0040] Figure 1 This is a schematic diagram of the structure of the UAV mounting stabilization device based on magnetic variable damping according to the present invention.

[0041] Figure 2 This is a schematic diagram of the structure of the magnetic damping anti-sway component of the present invention.

[0042] Figure 3 This is a schematic diagram of the internal structure of the device box of the present invention.

[0043] Figure 4 This is a schematic diagram of the structure of the pod assembly of the present invention.

[0044] Figure 5 This is a flowchart of the method for mounting a stabilization device on an unmanned aerial vehicle and controlling it, according to the present invention.

[0045] Figure 6 This is a comparison curve of the anti-oscillation effects of the three methods when the initial value of the present invention is released.

[0046] Figure 7 This is a comparison curve of motion and swing angle for the three methods under deceleration conditions according to the present invention.

[0047] Figure 8 This is a comparison curve of the hinge point disturbance torque of the three methods under the deceleration condition of the present invention.

[0048] Figure 9 This is a comparison curve of energy decay for the three methods when the initial value of the present invention is released.

[0049] In the diagram: 1-Magnetic damping anti-sway assembly; 101-Cross connecting shaft; 102-Reducer; 103-Magnetic damper; 104-Absolute optical encoder; 105-Adjustable dynamic resistor; 106-Main controller; 107-First U-shaped bracket; 108-Second U-shaped bracket; 109-Bearing with seat; 110-Equipment box; 111-Power supply; 112-Radiator; 113-Cooling fan; 2-Loading pod assembly; 201-Loading body; 202-Counterweight plate; 203-Guide rod array; 204-Counterweight adjustment motor; 205-Lead screw; 206-Lead screw nut; 207-Tension and compression sensor; 208-X-type connecting bracket; 209-Connecting rod; 210-Graphite bearing; 211-Hatch cover; 212-Hatch cover latch; 213-Cross-shaped bracket; 214-Equipment mounting bracket. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments. The terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, an integral connection, an electrical connection, or a signal connection; it can refer to a direct connection or an indirect connection through an intermediate medium.

[0051] Example 1:

[0052] like Figure 1 The UAV mounting stabilization device shown includes a magnetic damping anti-sway component 1 for connecting the UAV and the mounting pod assembly 2.

[0053] Magnetic damping anti-sway component 1:

[0054] like Figure 1 , Figure 2 and Figure 3 As shown, the magnetic damping anti-sway assembly 1 includes a cross-shaped connecting shaft 101 that can rotate in two directions, and a first U-shaped bracket 107 and a second U-shaped bracket 108 with opposite openings.

[0055] The cross-connecting shaft 101 includes a main shaft and a secondary shaft that are cross-connected. One end of the main shaft and the secondary shaft is connected to the power output end of the magnetic damper 103 through a reducer 102. The other end of the main shaft and the secondary shaft is connected to an absolute optical encoder 104 for acquiring the rotation angle and angular velocity of the main shaft and the secondary shaft. The two reducers 102 are respectively installed on one side wall of the first U-shaped bracket 107 and the second U-shaped bracket 108. The two absolute optical encoders 104 are respectively installed on the other side wall of the first U-shaped bracket 107 and the second U-shaped bracket 108 through a bearing 109. The second U-shaped bracket 108 is connected to the mounting pod assembly 2.

[0056] The power output terminals of the two magnetic dampers 103 are electrically connected to the two modulated resistors 105 respectively through the main controller 106. When the pod assembly 2 swings, the main controller 106 adjusts the resistance value of the modulated resistors 105 according to the data collected by the absolute optical encoder 104, so that the damping of the magnetic dampers 103 changes, thus counteracting the swing of the pod assembly 2.

[0057] In this embodiment, the reducer 102 is a planetary reducer, whose reverse transmission amplifies the rotational speed of the cross-connecting shaft 101 and transmits it to the magnetic damper 103. The magnetic damper 103 is similar to a motor structure; when its shaft rotates, it outputs voltage. When a load resistor is connected to both ends of the magnetic damper 103, the magnetic damper suppresses shaft rotation. Furthermore, when the load remains constant, the faster the rotation, the greater the reverse force. The modulated dynamic resistor 105 is used to convert the electrical energy generated by the magnetic damper 103 into heat energy.

[0058] like Figure 1 , Figure 2 and Figure 3 As shown, the magnetic damping anti-sway assembly 1 also includes an equipment box 110. The lower end of the equipment box 110 is connected to the first U-shaped bracket 107, and the upper end of the equipment box 110 is connected to the drone. The main controller 106 and the modulated resistor 105 are installed inside the equipment box 110. The equipment box 110 also contains a power supply 111 for supplying power to the device, as well as a heat sink 112 and a cooling fan 113 for heat dissipation.

[0059] In this embodiment, the device box 110 is provided with space for installing various electronic modules. The heat sink 112 and the cooling fan 113 are used to dissipate heat for the internal power supply 111, the main controller 106, and the modulated resistor 105. The power supply 111 is used to provide internal power to the anti-sway device.

[0060] like Figure 3As shown, the main controller 106 includes a nine-axis gyroscope for acquiring UAV parameters, as well as a rectifier, a PWM MOS driver, a charging management module, and an MCU control module; the rectifier and the PWM MOS driver are connected in series between the modulated dynamic resistor 105 and the magnetic damper 103.

[0061] In this embodiment, there are two rectifiers and two PWM MOS drivers, which are connected in series with two sets of modulated dynamic resistors 105 and magnetic dampers 103, respectively. The rectifier is used to rectify the AC induced current of the magnetic damper 103 into DC. The rectified current is connected to the modulated dynamic resistor 105 after passing through the PWM MOS driver. When the mounted pod assembly 2 swings, the duty cycle of the PWM wave output by the MCU control module to the PWM MOS driver is changed, thereby controlling the resistance value connected through the modulated dynamic resistor 105, thereby changing the damping coefficient of the magnetic damper.

[0062] Pod assembly 2:

[0063] like Figure 1 and Figure 4 As shown, the pod assembly 2 includes a pod body 201. A tensile and compressive force sensor array for monitoring the force on the pod body 201 is installed at the top of the pod body 201. A slidingly adjustable counterweight mechanism is installed at one end of the pod body 201. The counterweight mechanism includes a counterweight plate 202 arranged parallel to the side wall of one end of the pod body 201. The counterweight mechanism adjusts the distance between the counterweight plate 202 and the side wall of the pod body 201 according to the data collected by the tensile and compressive force sensor array.

[0064] The counterweight mechanism also includes a guide rod array 203 and a counterweight adjustment motor 204 installed on the lifting body 201; the counterweight plate 202 is slidably connected to the guide rod array 203 through a graphite bearing 210, the power shaft of the counterweight adjustment motor 204 is equipped with a lead screw 205, and a lead screw nut 206 is installed on the counterweight plate 202, and the lead screw nut 206 is threadedly connected to the lead screw 205.

[0065] The tension and compression sensor array includes four tension and compression sensors 207 mounted on the top of the hoist body 201. The four tension and compression sensors 207 are distributed in a rectangular array along the center of the upper end face of the hoist body 201. The pod assembly 2 also includes an X-shaped connecting bracket 208 and a connecting rod 209. One end of the connecting rod 209 is connected to the center of the upper end face of the X-shaped connecting bracket 208. The four tension and compression sensors 207 are respectively connected to the four corners of the lower end face of the X-shaped connecting bracket 208. The other end of the connecting rod 209 is connected to the second U-shaped bracket 108.

[0066] An equipment mounting bracket 214 is installed on the side wall of the other end of the hoisting body 201. A hatch 211 is opened on one side wall of the hoisting body 201, and a hatch latch 212 is installed on the side wall of the hoisting body 201.

[0067] In this embodiment, four tension and compression sensors 207 are respectively installed at the four corners of the upper surface of the lifting body 201. The guide rod array 203 includes four guide rods, and the other ends of the four guide rods and the lead screw 205 are all installed on the cross-shaped bracket 213.

[0068] In this embodiment, during loading, the object is first placed inside the lifting body 201, and the hatch 211 is fastened by the hatch latch 212; then, by calculating the difference between the sum of the forces on the two tension and compression sensors 207 at one end and the sum of the forces on the two tension and compression sensors 207 at the other end, it is determined whether the loading pod assembly 2 is unbalanced; when unbalanced loading occurs, the position of the counterweight plate 202 is adjusted to reduce the deviation, so that the sum of the forces at both ends approaches 0.

[0069] Example 2:

[0070] like Figure 5 The control method of a UAV mounting stabilization device based on magnetic variable damping, as shown in Example 1, uses the UAV mounting stabilization device based on magnetic variable damping to control the oscillation of the mounting pod assembly around the main axis and the secondary axis. The oscillation control steps S1-S3 are executed through two independent and parallel control links. The specific steps are as follows:

[0071] S1: Collect the swing angle of the main spindle and the secondary spindle. and axial angular velocity And the fuselage angular velocity of the drone relative to the main and secondary axes. Regarding axial angular velocity Filtering is performed to obtain the axial angular velocity ;

[0072] In this embodiment, the swing angles of the main shaft and the secondary shaft are obtained using an absolute optical encoder. and axial angular velocity The angular velocity of the fuselage is obtained through the corresponding axes of the nine-axis gyroscope. Regarding axial angular velocity First-order low-pass filter:

[0073] ;

[0074] in, For the first Second sampling, Preset filter time constant, To control the sampling period.

[0075] In this embodiment, the oscillating mechanical energy is calculated as follows:

[0076] ;

[0077] in, For rotational inertia, For equivalent quality, For the length of the connecting rod, This is the acceleration due to gravity.

[0078] S2: According to , and Size, and and The sign relationship is used to calculate the PWM duty cycle for each model: hard protection mode, balanced resting mode, and main oscillation elimination mode. The specific method is as follows:

[0079] (a):When When in hard protection mode, the output PWM duty cycle is: At this point, the magnetic damper outputs its maximum damping torque to quickly dissipate the oscillation energy, prioritizing the safety of the mounted pod components and the mounted objects.

[0080] In this embodiment, The value is 35°.

[0081] (b): When and When the PWM duty cycle is in balanced rest mode, it is... And reset the integral to zero to prevent small disturbances from being locked by overdamping;

[0082] In this embodiment, The value is 1.5°. The value is .

[0083] (c): When neither of the above two conditions is met, that is: when or At that time, according to the main anti-sway model, the PWM duty cycle is calculated using the attitude error via PID control. for:

[0084] ;

[0085] in, , and As a preset positive parameter, , , , To control the start time of the cycle. The sampling time of the current control cycle, , , , and All are preset thresholds.

[0086] As one embodiment of this application, PWM duty cycle Also includes soft limit items Coupling suppression term Resonance band enhancement term and flight acceleration feedforward term One or more of them.

[0087] (1) When At that time, PWM duty cycle Also includes soft limit items :

[0088] ;

[0089] in, The preset angle threshold, The value is 22°.

[0090] (2) When At that time, PWM duty cycle It also includes coupling suppression terms. :

[0091] ;

[0092] in, and All are preset coefficients; this application takes... It is 0.25.

[0093] (3) Estimate the pod oscillation frequency Or based on Give the nominal value of the natural frequency When the oscillation energy Above the threshold and fall into Within the frequency band, increase the additional superimposed frequency band enhancement term. This strategy maintains relatively low damping under non-resonant disturbances, but rapidly increases energy consumption during sustained oscillations close to the natural frequency. This allows for a more targeted disruption of the attitude loop and pendulum resonance.

[0094] (4) The main controller obtains the UAV horizontal acceleration command through the flight control data link or local IMU differential. Or the acceleration estimate obtained from the velocity profile difference; when When the value exceeds the preset maneuver threshold (e.g.: Change from 0 to negative value and ), superimpose a feedforward enhancement term on the PWM instruction This is used to suppress the oscillating energy injection caused by acceleration and deceleration excitation before the oscillation angle is fully established. Compared with relying solely on oscillation angle feedback, feedforward can reduce the peak oscillation angle and hinge disturbance torque during deceleration.

[0095] As one embodiment of this application, it also includes thermal protection derating of the braking resistor: collecting the temperature of the braking resistor. Or, the temperature rise can be estimated by integrating the dissipated energy; when When the warning threshold is exceeded, the maximum available PWM duty cycle is reduced to [value]. Once the temperature drops below the recovery threshold, it gradually recovers. The thermal protection alters the actuator's capability boundary; the anti-sway main loop is still completed by the attitude feedback PID closed loop.

[0096] S3: The resistance value of the modulated dynamic resistor connected to the circuit is controlled according to the PWM duty cycle, so as to change the magnetic damping torque of the magnetic damper; the magnetic damping torque is used to dissipate the oscillation energy.

[0097] In this embodiment, the PWM duty cycle command is smoothed by low-pass / limited slope and then output to the PWM drive circuit, thereby changing the equivalent engagement level of the modulated dynamic resistor and adjusting the damping torque of the magnetic damper. The damping torque satisfies the semi-active constraint, that is, it only generates dissipative torque in the opposite direction to the angular velocity. Since the control closed loop is established on the real-time attitude state, even if the braking resistor heats up and causes the equivalent resistance of the loop to drift, the attitude error can still continuously drive PWM correction, ensuring the anti-sway effect.

[0098] In this embodiment, the working mechanism of the PID closed loop is: based on the swing angle angular velocity The constant attitude states form a state closed loop, and the PID continuously adjusts the PWM duty cycle based on the attitude error as an online control law, ensuring that the actual energy consumption follows the desired anti-sway target. Even if the modulated PWM resistor heats up during operation, causing resistance changes, the state feedback can still continuously adjust the control input to maintain anti-sway performance.

[0099] S4: Based on the data collected by the tension and compression sensor array, calculate the off-center load between the two ends of the pod assembly. When the off-center load is greater than a preset threshold, drive the counterweight plate to move so that the off-center load is less than the preset threshold. The frequency of the off-center load adjustment is less than the frequency of the anti-sway adjustment.

[0100] In this embodiment, the offset between the two ends of the mounting pod assembly is defined. for:

[0101] ;

[0102] in, The values ​​are sampled from two tension / compression sensors at one end of the pod assembly. The values ​​are sampled from two tension / compression sensors at the other end of the pod assembly. When When the dead zone is greater than the limit, the MCU controls the center of gravity adjustment motor to drive the lead screw, which moves the counterweight plate along the guide rod, so that... Approaching zero. In this embodiment, the off-center load regulation operates at 20–50 Hz, and the anti-sway regulation operates at 1 kHz, with the two decoupled. This can simultaneously reduce the sway disturbance torque and the static unbalance torque, improving the overall stability of the system.

[0103] As one embodiment of this application, the method further includes load adaptive gain scheduling: estimating the equivalent load mass of the current stage based on the multi-point tension and compression sensors of the pod. ,according to By performing table lookup or linear scheduling on preset parameters, the consistency of sway reduction response under different load masses can be improved.

[0104] Simulation and Verification:

[0105] To verify the effectiveness of this application, comparative simulations were conducted for three operating conditions: closed-loop oscillation elimination, open-loop minimum damping, and undamped operation. The results are as follows: Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown in the figure, the closed-loop layered magnetic damping can attenuate the swing angle and oscillation energy more quickly and significantly reduce the peak value of the disturbance torque at the hinge point, achieving both rapid swing cancellation and near-equilibrium compliance under semi-active constraint.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A UAV mounting stabilization device based on magnetic variable damping, characterized in that, Includes a magnetic damping anti-sway component (1) for connecting the UAV and the mounting pod assembly (2); The magnetic damping anti-sway assembly (1) includes a cross-connecting shaft (101) that can rotate in two directions. The cross-connecting shaft (101) includes a main shaft and a secondary shaft that are cross-connected. One end of the main shaft and the secondary shaft is connected to the power output end of the magnetic damper (103) through a reducer (102). The other end of the main shaft and the secondary shaft is connected to an absolute value optical encoder (104) for collecting the rotation angle and angular velocity of the main shaft and the secondary shaft. The power output ends of the two magnetic dampers (103) are electrically connected to two modulated dynamic resistors (105) through the main controller (106). When the pod assembly (2) swings, the main controller (106) adjusts the resistance value of the modulated dynamic resistor (105) according to the data collected by the absolute value optical encoder (104), so that the damping of the magnetic damper (103) changes, thereby counteracting the swing of the pod assembly (2).

2. The UAV mounting stabilization device based on magnetic variable damping according to claim 1, characterized in that, The magnetic damping anti-sway assembly (1) also includes a first U-shaped bracket (107) and a second U-shaped bracket (108) with opposite openings. The two reducers (102) are respectively mounted on one side wall of the first U-shaped bracket (107) and the second U-shaped bracket (108), and the two absolute optical encoders (104) are respectively mounted on the other side wall of the first U-shaped bracket (107) and the second U-shaped bracket (108) via bearings (109). The second U-shaped bracket (108) is connected to the mounting pod assembly (2).

3. The UAV mounting stabilization device based on magnetic variable damping according to claim 2, characterized in that, The magnetic damping anti-sway component (1) also includes a device box (110), the lower end of which is connected to the first U-shaped bracket (107), and the upper end of which is connected to the UAV. The main controller (106) and the modulated resistor (105) are installed in the device box (110). The main controller (106) includes a nine-axis gyroscope for collecting UAV parameters, as well as a rectifier, a PWM MOS driver, a charging management module, and an MCU control module. The rectifier and PWM MOS driver are connected in series between the modulated dynamic resistor (105) and the magnetic damper (103). When the pod assembly (2) swings, the PWM duty cycle output by the MCU control module to the PWM MOS driver is changed, thereby controlling the input resistance of the modulated dynamic resistor (105) and changing the damping coefficient of the magnetic damper (103).

4. The UAV mounting stabilization device based on magnetic variable damping according to claim 2, characterized in that, The pod assembly (2) includes a pod body (201), and a tensile and compressive force sensor array for monitoring the force on the pod body (201) is installed at the top of the pod body (201). A sliding adjustable counterweight mechanism is installed at one end of the lifting body (201). The counterweight mechanism includes a counterweight plate (202) arranged parallel to the side wall of one end of the lifting body (201). The counterweight mechanism adjusts the distance between the counterweight plate (202) and the side wall of the lifting body (201) according to the data collected by the tension and compression sensor array.

5. The UAV mounting stabilization device based on magnetic variable damping according to claim 4, characterized in that, The counterweight mechanism also includes a guide rod array (203) and a counterweight adjustment motor (204) installed on the lifting body (201). The counterweight plate (202) is slidably connected to the guide rod array (203) via a graphite bearing (210). The power shaft of the counterweight adjustment motor (204) is equipped with a lead screw (205). A lead screw nut (206) is installed on the counterweight plate (202), and the lead screw nut (206) is threadedly connected to the lead screw (205).

6. The UAV mounting stabilization device based on magnetic variable damping according to claim 4, characterized in that, The tension and compression sensor array includes four tension and compression sensors (207) installed at the top of the crane body (201), and the four tension and compression sensors (207) are distributed in a rectangular array along the center of the upper end face of the crane body (201); The mounting pod assembly (2) also includes an X-shaped connecting bracket (208) and a connecting rod (209). One end of the connecting rod (209) is connected to the center of the upper surface of the X-shaped connecting bracket (208), and the four tension and compression sensors (207) are respectively connected to the four corners of the lower surface of the X-shaped connecting bracket (208). The other end of the connecting rod (209) is connected to the second U-shaped bracket (108).

7. A control method for a UAV-mounted stabilization device based on magnetic variable damping, characterized in that, Using the UAV mounting stabilization device based on magnetic variable damping as described in any one of claims 4-6, the sway control of the mounting pod assembly around the main axis and the secondary axis is executed in steps S1-S3 through two independent and parallel control links, specifically as follows: S1: Collect the swing angle of the main spindle and the secondary spindle. and axial angular velocity And the fuselage angular velocity of the drone relative to the main and secondary axes. Regarding axial angular velocity Filtering is performed to obtain the axial angular velocity ; S2: According to , and Size, and and The sign relationship is used to calculate the PWM duty cycle for each model, including hard protection mode, balanced rest mode and main oscillation elimination mode. S3: The resistance value of the modulating resistor connected to the circuit is controlled according to the PWM duty cycle, so as to change the magnetic damping torque of the magnetic damper; the magnetic damping torque is used to dissipate the oscillation energy.

8. The control method for the UAV mounting stabilization device based on magnetic variable damping according to claim 7, characterized in that, The specific method in step S2 is as follows: when When in hard protection mode, the output PWM duty cycle is: ;when and When the PWM duty cycle is in balanced rest mode, it is... ;when or At that time, according to the main anti-sway model, the PWM duty cycle is calculated using the attitude error via PID control. for: ； in, , and As a preset positive parameter, , , , To control the start time of the cycle. The sampling time of the current control cycle, , , , and All are preset thresholds.

9. The control method for the UAV mounting stabilization device based on magnetic variable damping according to claim 8, characterized in that, when At that time, PWM duty cycle Also includes soft limit items : ； when At that time, PWM duty cycle It also includes coupling suppression terms. : ； in, The preset angle threshold, and These are preset coefficients.

10. The control method for the UAV mounting stabilization device based on magnetic variable damping according to claim 9, characterized in that, It also includes step S4: based on the data collected by the tension and compression sensor array, calculate the off-center load between the two ends of the pod assembly. When the off-center load is greater than a preset threshold, drive the counterweight plate to move so that the off-center load is less than the preset threshold. The frequency of the off-center load adjustment is less than the frequency of the anti-sway adjustment.

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