吊挂负载四旋翼无人机减摆轨迹跟踪控制设计  

Anti-Swing Trajectory Tracking Control Design for Quadrotor UAVs with Suspended Loads

作　　者：院老虎[1] 彭同博 蔡少泓 郝云杰 YUAN Laohu;PENG Tongbo;CAI Shaohong;HAO Yunjie(School of Aerospace Engineering,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学航空宇航学院,辽宁沈阳110136

出　　处：《郑州航空工业管理学院学报》2025年第2期1-11,共11页Journal of Zhengzhou University of Aeronautics

摘　　要：针对四旋翼无人机吊挂系统的负载摆动抑制和轨迹跟踪问题,提出一种线性自抗扰控制器(Liner Active Disturbance Rejection Controller,LADRC)的轨迹跟踪控制方法。首先,考虑到四旋翼吊挂负载耦合飞行的未知外界扰动与模型的动态不确定性,为飞行器的姿态、位置设计线性自抗扰控制器,通过扩张状态观测器(Extended State Observer,ESO)观测负载摆动和环境干扰对机体的扰动,并对控制量进行相应补偿,来抑制外界和负载摆动给机体带来的干扰,保证无人机飞行过程中的稳定性。其次,针对四旋翼无人机吊挂系统在飞行过程中负载摆角过大的问题,设计加速度规划摆角抑制算法,通过摆角的实时反馈对四旋翼无人机的位置轨迹输入进行路径规划,实现飞行过程中负载摆动的抑制。最后,通过仿真结果证明该控制方法对飞行器的位置及姿态控制效果较好,同时验证了所提的轨迹规划方法能够有效抑制吊挂物的摆动,且对干扰的鲁棒性较强。To address the issues of payload swing suppression and trajectory tracking in the suspension system of quadrotor unmanned aerial vehicles(UAVs),a trajectory tracking control method based on liner active disturbance rejection controller(LADRC)is proposed.Firstly,considering the unknown external disturbances and the dynamic model uncertainties in the coupled flight and suspended loads of quadcopter UAVs,a linear active disturbance rejection controller is designed for the attitude and position of the aircraft.The extended state observer(ESO)is used to observe the disturbance effects of payload swing and environmental disturbances on the aircraft,and the corresponding control variables are compensated to suppress the interference caused by external environment and payload swing on the aircraft,thus ensuring the flight stability.Secondly,in response to excessive load swing angle in the suspension system of quadcopter UAVs during flight,an acceleration planning swing angle possion suppression algorithm is designed.Through real-time feedback of swing angle,path planning is carried out for the trajectory input of quadcopter drones,effictively suppressing load swing during flight.Finally,the simulation results demonstrate that the method designed in this paper has a good control on the position and attitude of the aircraft,and that the proposed trajectory planning method can effectively suppress the swing of suspended objects while exhibiting strong robustness against interference.

关 键 词：四旋翼飞行器 吊挂负载 自抗扰控制 轨迹规划 摆动抑制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]