多旋翼无人机协同吊挂载荷控制方法研究  

Research on hanging load control method for collaborative suspension of multi-rotor UAV

作　　者：路向阳[1] 任相龙 薛久辉 LU Xiangyang;REN Xianglong;XUE Jiuhui(School of Electronic Information,Zhongyuan University of Technology,Zhengzhou 450007,China)

机构地区：[1]中原工学院电子信息学院,郑州450007

出　　处：《航空工程进展》2025年第2期31-39,共9页Advances in Aeronautical Science and Engineering

基　　金：国家自然科学基金(61975015,62375017);河南省教育厅重点项目(21B510014);中原工学院基本科研项目(2100255);2022年第二批产学合作协同育人项目(220902693232323);2022年度中原工学院校级教学改革研究与实践项目(2022ZGJGLX017)。

摘　　要：无人机通过单机搭载载荷的方式进行运输,运载能力受限,多机融合是大势所趋,在传统的搭建旋翼—载荷模型时,多使用Euler-Lagrange方法处理吊挂载荷的约束,需引入多个辅助变量,建模过程比较复杂。采用Udwadia-Kalaba(U-K)方程处理约束条件,对旋翼无人机协同飞行控制进行建模,以解决旋翼机协同运输载荷的问题是一种有效的尝试。通过建立旋翼无人机的运动学模型和动力学模型,利用U-K方程处理运动约束,将载荷对无人机的影响分为水平和垂直两个方向,并将其作为阶跃信号输入,进行求解计算;在系统的控制策略上设计串级PID控制模型,保证多机协同条件下旋翼无人机具有良好的抗干扰能力和稳定性;在Matlab环境下使用Simulink模型进行仿真分析。结果表明:所提出的控制方法实现了编队系统的稳定性、快速性和准确性,能够达到优化旋翼无人机协同控制效果的目标。The single UAV carries the load,the carrying capacity is limited,and multi-aircraft integration is the trend of the Times.Euler-Lagrange method is used in traditional rotor-load modeling.When dealing with the con-straints of multi-UAV hanging load system,it is necessary to introduce multiple auxiliary variables,and the model-ing process is complicated.Udwadia-Kalaba(U-K equation)is an effective attempt to solve the problem of cooper-ative load transport of rotorcraft by modeling the cooperative flight control of rotorcraft by treating the constraint conditions.By establishing the kinematics model and dynamics model of the rotor UAV,using the U-K equation to deal with the motion constraints,the influence of the load on the UAV is divided into horizontal and vertical direc-tions,and the input of the step signal is used to solve and calculate.The cascade PID control model is designed on the control strategy of the system.To ensure that the rotary-wing UAV has good anti-interference ability and sta-bility under the condition of multi-aircraft cooperation,simulink model is used to conduct simulation analysis in Matlab environment.The numerical simulation results show that the proposed control method achieves the stabili-ty,rapidity and accuracy of the formation system,and can achieve the goal of optimizing the cooperative control ef-fect of the rotary-wing UAV.

关 键 词：四旋翼编队 载荷运输 Udwadia-Kalaba MATLAB/SIMULINK PID 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]