Unmanned aerial vehicle anti-interference hovering control method applied to hoisting insulation coating robot

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, specifically to an anti-disturbance hovering control method for a UAV used in hoisting insulation coating robots. The method involves decomposing the robot's displacement and thrust command vectors based on a target conductor reference line, and determining the dynamic response ratio based on time lag compensation between the cross-line thrust and displacement scalars. This eliminates the force and response misalignment error caused by the time consumption of dynamic transmission in the flexible hoisting system. Furthermore, using the sampling time as network nodes, an undirected network connection graph is constructed based on the amplitude convexity occlusion relationship of the dynamic response ratio. The network degree distribution characteristics are extracted to determine the degree of nonlinear tremor, effectively separating and quantifying the smooth swaying caused by strong crosswinds from the nonlinear abrupt changes of rigid contact with the line. Finally, anti-disturbance hovering control is performed by comprehensively considering the magnitude of the cross-line thrust scalar and the degree of nonlinear tremor, resulting in higher accuracy in determining the robot docking status.

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