四旋翼无人机吊挂主动消摆控制系统设计  

Design of Active Anti-swing Control System for Hanging of Quad-rotor UAV

作　　者：朱梓悦 苟益鹏[1] 张梁山 储开斌 龚春英[2] ZHU Ziyue;GOU Yipeng;ZHANG Liangshan;CHU Kaibin;GONG Chunying(The China-Israel Xbot School,Changzhou University,Changzhou 213164,Jiangsu,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Changzhou XYU Intelligent Technology Co.,Ltd.,Changzhou 213164,Jiangsu,China)

机构地区：[1]常州大学中以机器人产业学院,江苏常州213164 [2]南京航空航天大学自动化学院,南京211106 [3]常州市小域智能科技有限公司,江苏常州213164

出　　处：《实验室研究与探索》2025年第2期37-41,共5页Research and Exploration In Laboratory

基　　金：常州大学2023年校级教育教学研究课题项目(GJY2023046,GJY2023029,GJY2023028,GJY2021057,GJY2021028);常州大学2023年校级“专创融合”特色示范课程建设项目(QZX23020541);2023年中以机器人产业学院教学研究课题项目(QZX23020635);2021年常州大学一流课程项目(ZMF21020568)。

摘　　要：为了抑制四旋翼无人机在吊挂运输过程中的负载摆动,设计了一个主动消摆控制系统,以提高四旋翼无人机吊挂稳定性。由姿态测量模块的测量数据得到无人机姿态高精度估计,将解算后的结果作为控制系统的输入;在动力学和运动学模型的基础上建立吊挂系统模型,并提出变系数比例-积分-微分(PID)控制算法。最后,搭建了基于四旋翼无人机吊挂主动消摆控制系统的硬件平台,设计了主控模块、姿态测量模块、电源模块、电动机驱动模块。变系数PID控制和传统PID控制下的摆动抑制对比实验结果验证了算法的有效性。To suppress the load swing during the transportation of quadcopter drones,an active control system is designed to eliminate swing to improve the stability of quadcopter drone suspension.Based on measurements from attitude calculation module,high-precision estimation of the attitude of unmanned aerial vehicles can be obtained,and the results of the attitude algorithm are adopted as input of the control system.The suspension system model is established based on the dynamic and kinematic models,and a variable coefficient proportional-integral-derivative(PID)control algorithm is proposed.A hardware platform for the active anti-swing system of quadcopter unmanned aerial suspension system is built,including the main control module,attitude measurement module,power module,motor drive module.At the end,by comparing the anti-swing results of the proposed variable coefficient PID control with that of the classical PID control,the effectiveness of the proposed algorithm is verified.

关 键 词：四旋翼无人机 吊挂 控制系统 变系数比例-积分-微分控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]