空中操作机器人抗扰动鲁棒飞行控制  

Robust Flight Control of an Aerial Manipulator

作　　者：马昭 盛鑫军[1] 董伟[1] MA Zhao;SHENG Xinjun;DONG Wei(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2020年第4期6-11,17,共7页Machine Design And Research

基　　金：国家科技重大专项(2017ZX01041101-003);国家自然科学基金(51975348,51605282)。

摘　　要：空中操作机器人是包含无人机平台与多自由度机械臂的新型机器人系统。由于无人机与机械臂的强动力学耦合,加之负载变化,作业过程中外部横风扰动等,均会对无人机平台造成干扰,影响其位置定位精度。本文基于干扰观测器设计了鲁棒飞行控制器,对无人机进行连续状态观测,实现位置控制环路的闭环整定。该控制器运算量小,可实时运行于实际系统中。室内实验测试表明,在机械臂运动、负载变化和外部横风等内外部扰动下,该鲁棒控制器仍可达到0.05 m的定位精度。An aerial manipulator is a new type of robot system composed of a UAV platform and amulti-DOFs robotic arm.However,the UAV platform faces some tricky disturbance,such as the problems in dynamics coupling,load change and strong wind disturbance,which affect the positioning accuracy of the UAV.This paper designs a highperformance robust flight controller based on disturbance observer,which can effectively estimate the comprehensive disturbance and achieve a closed-loop tuning.The controller has a small amount of calculation and can be run in real systems in real time.The indoor experiments demonstrate that the robust controller achieves a positioning accuracy within 0.05 m even when there are manipulator position changes,load changes and wind gust.

关 键 词：空中操作 鲁棒控制 干扰观测器 抗扰动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]