基于LQR的无人机吊挂飞行系统减摆控制设计  

Design of Anti-Swing Control for UAV Slung-Load Flight System Based on LQR

作　　者：刘肩山 唐毅 谢志明[1] LIU Jianshan;TANG Yi;XIE Zhiming(Changsha Aeronautical Vocational and Technical College,Changsha 410124,China)

机构地区：[1]长沙航空职业技术学院,湖南长沙410124

出　　处：《现代信息科技》2023年第6期157-159,共3页Modern Information Technology

基　　金：湖南省自然科学基金联合基金项目(2019JJ70029);长沙航空职业技术学院院级课题(YB2001)。

摘　　要：基于无人机吊挂物资飞行速度较低且飞控算力有限的实际情况,为无人机吊挂飞行系统的减摆控制设计了线性二次调节器(LQR),该控制器能够实现无人机的位置控制和吊挂负载的减摆控制。首先,建立了系统的动力学模型,并在平衡点处进行线性化处理;然后利用线性模型设计了LQR控制器;最后进行了仿真试验,仿真结果表明LQR控制器对无人机吊挂飞行系统取得了较好的减摆控制效果。Based on the actual situation that the flight speed of UAV with slung-load is low and the computing power of flight controller is insufficient,a Linear Quadratic Regulator(LQR)is designed for the anti-swing control of the UAV slung-load flight system.The controller could achieve position control of the UAV and anti-swing control of slung-load.Firstly,the dynamic model of this system is built and linearization treatment is done at equilibrium point.Then,the LQR controller is designed by using the linearization model.Finally,it carries out simulation experiments,and simulation results show that LQR controller has achieved good anti-swing control effect on UAV slung-load flight system.

关 键 词：无人机 吊挂负载 LQR控制器 减摆控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]