二级摆型四旋翼无人机定位防摆控制  

Positioning and Anti-Swing Control of Double-Pendulum Quadrotor UAV

作　　者：王春光 范波 牛宗贤[1] 杨晨辉 WANG Chun-guang;FAN Bo;NIUZong-xian;YANG Chen-hui(School of Information Engineering,Henan University of Science and Technology,Luoyang Henan 471023,China;Henan Key Laboratory of Robot and Intelligent Systems,Henan University of Science and Technology,Luoyang Henan 471023,China)

机构地区：[1]河南科技大学信息工程学院,河南洛阳471023 [2]河南科技大学河南省机器人与智能系统重点实验室,河南洛阳471023

出　　处：《计算机仿真》2023年第11期34-40,73,共8页Computer Simulation

摘　　要：针对在四旋翼无人机吊挂运输过程中,由于吊钩质量影响易产生二级摆现象,提出基于在线轨迹规划的四旋翼无人机二级摆定位防摆控制方法。以一条平滑的S型轨迹为基础,利用无人机与吊钩、负载之间的动态耦合关系,在轨迹中加入不影响无人机定位的消摆环节,构造出新型定位消摆轨迹,实现四旋翼吊运系统的在线轨迹规划,兼顾吊钩、载荷消摆与四旋翼准确定位的要求。最后通过仿真分析,所提出的控制轨迹能够快速的抑制吊钩和负载摆角,实现无人机的准确定位,具有良好的控制性能。In the process of quadrotor UAV hoisting and transportation,due to the influence of hook quality,a two-stage pendulum positioning and anti-pendulum control method based on online trajectory planning is proposed in this paper.Based on a smooth S-shaped trajectory,utilizing the dynamic coupling relationship between the drone and the hook and load,a new type of positioning anti swing trajectory is constructed by adding anti swing links that do not affect the drone's positioning in the trajectory.This achieves online trajectory planning for the quadcopter lifting sys-tem,taking into account the requirements of hook,load anti swing,and accurate positioning of the quadcopter.Finally,through the simulation analysis,The proposed control trajectory can quickly suppress the hook and load swing angle,and achieve accurate positioning of quadrotor UAV,with good control performance.

关 键 词：二级摆 四旋翼无人机 在线轨迹规划 定位消摆 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]