CN-116339152-B - Self-adaptive control method for suspension flight of elastic rope of rotor unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a self-adaptive control method for suspension flight of an elastic rope of a rotor unmanned aerial vehicle, namely a control method for suspension flight transportation of an object by an elastic rope of a four-rotor unmanned aerial vehicle. In order to control the position of the quadrotor unmanned aerial vehicle and simultaneously restrain swinging of a hanging load quickly under the condition that the quality parameters of the system are unknown. The invention designs the Lyapunov equation based on the energy function method and the parameter self-adaptive method, and further designs a controller to realize the control of the hanging unmanned aerial vehicle. The invention is mainly applied to the control of the suspended load flight transportation of the rotor unmanned aerial vehicle.

Inventors

• YANG SEN
• CHANG PENG
• TONG JIGANG

Assignees

• 天津理工大学

Dates

Publication Date

20260508

Application Date

20230517

Claims (2)

1. 1. The self-adaptive control method for the suspension flight of the elastic rope of the rotor unmanned aerial vehicle is characterized in that the self-adaptive control method combines an energy function method and a parameter self-adaptive method to design a Lyapunov equation, so that a controller is designed for a four-rotor suspension system to realize the control of four rotors; The self-adaptive control method carries out stress analysis on the quadrotor unmanned aerial vehicle and the hanging object, so as to obtain a nonlinear dynamics model of the hanging system of the quadrotor unmanned aerial vehicle: (1) wherein the definitions of the variables and parameters are as follows: Representing the position coordinates of a quad-rotor unmanned helicopter, Represents the acceleration corresponding to the triaxial position of the quadrotor unmanned aerial vehicle, For hanging rope projection to The angle of the face to the vertical, For hanging rope projection to The angle of the face to the vertical, The angular velocity representing the rope sway angle, The angular acceleration representing the rope sway angle, For the real-time length of the hanging rope, Indicating the amount of speed change in the length of the rope, Indicating the amount of acceleration change in the length of the rope, And The mass of the four rotor wings and the mass of the hung object are respectively, Respectively represent four rotor unmanned aerial vehicle edges The magnitude of the lift force of the shaft, Gravitational acceleration, for an elastic hanging rope, the initial length of the rope is , Rope tension, being the rope modulus of elasticity The expression of (2) is as follows: ; aiming at the hanging unmanned aerial vehicle model in the formula (1), the following controller is designed: (2) in the formula (2), the amino acid sequence of the compound, All positive control gains, the four-rotor unmanned aerial vehicle is in The position errors in the three directions of the shaft are recorded as The target position of the unmanned aerial vehicle is recorded as The position errors of the unmanned aerial vehicle can be expressed as: , for four rotor unmanned aerial vehicle suspension system total mass And the adaptive update rate is as follows: (3) Wherein the method comprises the steps of Is a constant greater than zero and maps the function The definition is as follows: (4) Influence the swing angle Is a convergence speed of (2); Influence the swing angle Is a convergence speed of (2); Influencing the horizontal direction of four rotors Tracking convergence speed of displacement; Influencing the horizontal direction of four rotors Tracking convergence speed of displacement; Influencing the vertical direction of four rotor wings Tracking convergence speed of displacement.
2. 2. The method for adaptive control of the flying of an elastic rope suspension of a rotary-wing unmanned aerial vehicle according to claim 1, further comprising the step of proving the progressive convergence characteristic of the controller, comprising the steps of: (5) In the middle of , The position coordinates of the hanging load; the first derivative with respect to time is obtained by respectively solving the kinetic energy and potential energy equations in the formula (5): (6) combining the energy equations in the formula (6) to obtain the first derivative of the total energy of the system as follows: (7) the lyapunov candidate function is constructed as follows: (8) Wherein the method comprises the steps of Is a constant that is greater than zero and, Deviation for system quality estimation , Is about And (3) obtaining the first derivative of time at the same time on both ends of the formula (8): (9) substituting the formulas (2-4) and (7) into (9) for simplification to obtain: (10) Therefore, it is Is about From which it can be obtained that the system is asymptotically stable, i.e (11)。

Description

Self-adaptive control method for suspension flight of elastic rope of rotor unmanned aerial vehicle Technical Field The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a self-adaptive control method for flying a suspended load of a four-rotor unmanned aerial vehicle, namely a control method for flying and transporting an object suspended by an elastic rope of the four-rotor unmanned aerial vehicle. Background The four-rotor unmanned aerial vehicle has flexible maneuverability and good stability, and can rapidly finish tasks such as air transportation and grabbing. In recent years, with the rapid development of electronic technology, quad-rotor unmanned aerial vehicles have been widely used in the fields of military, civil use, rescue, traffic, and the like. The four-rotor wing flight transportation system with suspended load is used as an expansion application of the unmanned aerial vehicle, has flexible performance and stable structure, has great use value in rescue and material transportation, and has good development prospect. At present, the problems of load swing and unmanned aerial vehicle positioning control in a hanging flight system of a four-rotor unmanned aerial vehicle are widely concerned by research teams at home and abroad. The research team of Beijing aviation aerospace university provides an anti-multi-disturbance control method based on a multi-observer. Compared with the classical PID Control method, the method has better robustness, and the anti-interference performance of the system is obviously improved (journal: control ENGINEERING PRACTICE; author: guo, kexin, jia Jindou, yu Xiang, guo Lei and Xie Lihua; article title ：Multiple observers based anti-disturbance control for a quadrotor UAV against payload and wind disturbances; page number: 104560). Liang Xiao, et al, university of south opening, designed a new nonlinear controller based on energy analysis to achieve stable control of the system (conference: proceedings of the IEEE International Conference on Advanced Robotics and Mechatronics (ICARM); authors: liang, xiao, yu Hai, zhang Zhuang, wang Yang, sun NING AND FANG Yongchun; publication year and month: 2020; article title ：Unmanned Quadrotor Transportation Systems with Payload Hoisting/Lowering:Dynamics Modeling and Controller Design; page 666-671). To achieve track control and yaw angle suppression for four rotors, alkomy et al at the university of about Ke (journal: nonlinear Dynamics; journal: alkomy HASSAN AND SHAN Jinjun; article title: vibration reduction of a quadrotor with a cable-suspended payload using polynomial trajectories; page number: 3713-3735) analyzed the effect of polynomial tracks on load swing in a suspension system and provided a polynomial track method that was most effective in suppressing load swing. Muthusamy et al (journal: IEEE Transactions on Industrial Electronics; journal: muthusamy Praveen Kumar, GARRATT MATTHEW, pota Hemanshu and Muthusamy Rajkumar; article title ：Real-Time Adaptive Intelligent Control System for Quadcopter Unmanned Aerial Vehicles with Payload Uncertainties; page numbers: 1641-1653) introduced a brain emotion learning algorithm into a four-rotor suspension system, providing an intelligent control method. Experimental results show that the hanging system has good track tracking capability and robustness under the condition of external interference. There are also some groups of research on different situations of hanging ropes. Sierra et al (journal: expert SYSTEMS WITH Applications; the authors: sierra-Garc I a Jesus Enrique, santos Matilde; the article title: INTELLIGENT CONTROL OF AN UAV WITH A CABLE-suspended load using a neural network estimator; the page number: 115380) analyze different conditions of tightening and loosening of ropes, and a nonlinear hybrid control method based on a neural network is provided, so that stable control of the quadrotor unmanned aerial vehicle and swing reduction control of hanging load are realized. Goodarzi et al (journal: international Journal of Control, automation AND SYSTEMS; journal: goodarzi Farhad A, lee Daewon and Lee Taeyoung; article title: geometric control of a quadrotor UAV transporting a payload connected via flexible cable; page number: 1486-1498) propose a geometric nonlinear controller and model the flexible rope as a five-link serial system, which realizes the precise positioning of a four-rotor unmanned aerial vehicle and suppresses the swinging of a hanging load. The length of the rope is set to be variable by Yang et al (journal: asian Journal of Control; author: yang Yunxiao, zhang Dong, xi Houyin and Zhang Guoqing; article title ：Anti-swing control and trajectory planning of quadrotor suspended payload system with variable length cable; page number: 2424-2436), a track planning control scheme is designed based on a coupling dynamics model of the system, and the effectiveness of the control scheme is verified th