基于积分滑模的带机械臂无人机控制方法研究  

Research on control method of UAV with manipulator based on integral sliding mode

作　　者：许金伟 周祖鹏[1] Xu Jinwei;Zhou Zupeng(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院,桂林541004

出　　处：《电子测量技术》2023年第8期185-192,共8页Electronic Measurement Technology

基　　金：国家自然科学基金(61763006)项目资助。

摘　　要：针对在复杂环境下带机械臂无人机进行空中轨迹飞行及抓取作业过程中,存在响应缓慢、不稳定性等问题,首次将积分滑模(ISMO)方法应用于带机械臂无人机控制。首先根据空间中的位姿关系及欧拉-拉格朗日方程,对无人机与三自由度机械臂建立整体的运动学和动力学模型,保证了系统的准确性。其次在利用数学模型描述各变量之间的相互关系后,搭建仿真复杂环境用于模拟整个采样过程。最后设计ISMO控制率用于整体控制,利用李雅普诺夫方程进行了证明。考虑全局在动静态下环境对无人机位置、姿态、机械臂的扰动以及抓取后增加负载的影响,经过仿真校验,其响应速度、鲁棒性等优于传统的PID控制器,保证了系统高效稳定地运行。In order to solve the problems of slow response and instability in the flight and grasping process of UAV with manipulator in complex environment,the ISMO method is applied to the control of UAV with manipulator for the first time.Firstly,according to the position and attitude relationship in space and Euler-Lagrange equation,the overall kinematics and dynamics model of UAV and 3-DOF manipulator is established to ensure the accuracy of the system.Secondly,after using the mathematical model to describe the relationship between variables,a complex simulation environment is built to simulate the whole sampling process.Finally,the ISMO control rate is designed for the whole control,which is proved by Lyapunov equation.Considering the influence of the global dynamic and static environment on the disturbance of the UAV position,attitude,manipulator and the increase of load after grasping.The simulation results show that its response speed and robustness are better than the traditional PID controller,which ensures the efficient and stable operation of the system.

关 键 词：机械臂 无人机 欧拉-拉格朗日方程 采样 ISMO 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]