基于奇异摄动分解的带机械臂旋翼无人机飞行稳定性研究  

Flight Stability Research on UAV with a Robotic Arm Based on Singular Perturbation Decomposition

作　　者：梅平[1] 谢双双 张豪 刘云平[1] MEI Ping;XIE Shuangshuang;ZHANG Hao;LIU Yunping(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210000,China)

机构地区：[1]南京信息工程大学自动化学院,南京210000

出　　处：《电光与控制》2024年第9期18-24,37,共8页Electronics Optics & Control

基　　金：国家自然科学基金(51875293)。

摘　　要：为了降低无人机和机械臂之间的耦合作用,提高带臂四旋翼无人机飞行过程中的稳定性,首先建立系统动力学模型,然后根据实际情况,对模型进行简化。在此基础上进行内、外环分解,外环为四旋翼位置控制和机械臂角度控制,内环为四旋翼俯仰角控制。对于外环的动力学模型,根据速度变化特点,利用奇异摄动理论对外环变量,即四旋翼线速度和机械臂角速度,进行快、慢变子系统分解,再次降低了系统间的耦合性。对于分解后的快、慢变子系统,设计非奇异终端滑模控制并引入干扰观测器,以期提高带臂四旋翼无人机飞行过程中的稳定性。最后,仿真验证了所设计算法的优越性。In order to reduce the coupling effect between UAV and its robotic arm,and improve the stability of the quad-rotor UAV equipped with a robotic arm during flight,this article first establishes a system dynamics model,and then simplifies the model according to the actual situation.On this basis,the inner and outer loops are decomposed.The outer loop is used for controlling the position of the quad-rotor and the angle of the robotic arm,while the inner loop is for controlling the pitch angle of the quad-rotor.For the dynamic model of the outer loop,singular perturbation theory is used to decompose the outer loop variables,namely the linear velocity of the quad-rotor and the angular velocity of the robotic arm,into slow and fast subsystems,according to the velocity change characteristics,which once again reduces the coupling between the systems.For the decomposed slow and fast subsystems,non-singular terminal sliding mode control is designed and a disturbance observer is introduced to improve the stability of the armed quad-rotor UAV during flight.Finally,simulations verify the superiority of the designed algorithm.

关 键 词：无人机 机械臂 飞行稳定性 内外环分解 奇异摄动理论 非奇异终端滑模控制 

分 类 号：TP202.1[自动化与计算机技术—检测技术与自动化装置]