四旋翼无人机吊挂系统防摆控制方法研究  

Research on Anti-swing Control Method of Quadrotor UAV Hanging System

作　　者：张珂 赵笠焱 石怀涛 姚福星 付玲 ZHANG Ke;ZHAO Li-yan;SHI Huai-tao;YAOFu-xing;FU Ling(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168,China;Zoomlion Heavy Industries Co.,Ltd.,Changsha 410000,China)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168 [2]中联重科股份有限公司,湖南长沙410000

出　　处：《控制工程》2023年第2期222-230,共9页Control Engineering of China

基　　金：河北省省级科技计划资助项目(19211904D);辽宁省教育厅基金资助项目(lnqn202009)。

摘　　要：为了解决四旋翼无人机在吊挂负载飞行过程中吊挂负载在其水平方向摆角波动过大、不能消除、四旋翼无人机无法精确定位等实际工程问题,通过能量分析的方法研究提出了一种基于能量分析的四旋翼无人机吊挂飞行系统非线性耦合防摆控制器。首先,采用拉格朗日法建立了四旋翼无人机吊挂飞行系统的二维动力学模型;然后,通过非线性能量耦合的方法设计了针对此系统的非线性耦合防摆控制器,通过拉塞尔不变性原理和李雅普诺夫方法证明了该闭环反馈控制系统的稳定性。结果表明,所提出的非线性能量耦合控制器能够适用于多种飞行运输情景,在其改变飞行目标位置、吊挂负载质量、附加初始摆动时均有良好的控制效果。最后,通过数值仿真,与其他基于能量分析的控制器,就其目标定位、摆角消除等控制效果进行了对比,结果表明所提出的控制器在改变飞行目标位置、吊挂负载质量、附加初始摆动时,均具有良好的鲁棒性。In order to solve practical engineering problems, such as the swing angle fluctuation of the hanging load in the horizontal direction is too large to be eliminated, and the quadrotor UAV can not be accurately positioned, a nonlinear coupling anti-swing controller for the hanging flight system of quadrotor UAV based on energy analysis is proposed. Firstly, a two-dimensional dynamic model of the hanging flight system of quadrotor UAV is established by Lagrange method, and then a nonlinear coupling anti-swing controller is designed by nonlinear energy coupling method. The stability of the closed-loop feedback control system is proved by La Salle invariance principle and Lyapunov method. The results show that the proposed nonlinear energy coupling controller can be applied to a variety of flight transportation situations, and has good control effect when it changes the flight target position, the hanging load mass and adds initial swing. Finally, through numerical simulation, the control effects of target positioning and swing angle elimination are compared with those of other controllers based on energy analysis. It can be seen that the proposed controller has good robustness when the flight target position, the hanging load mass and adding initial swing change.

关 键 词：四旋翼无人机 防摆控制 能量分析 吊挂负载系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]