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CN-122018536-A - Control method for suspended load of airship, electronic equipment, storage medium and program product

CN122018536ACN 122018536 ACN122018536 ACN 122018536ACN-122018536-A

Abstract

The embodiment of the application provides a control method, electronic equipment, a storage medium and a program product of an airship hanging load, which relate to the technical field of nonlinear control. In the control of the airship, the simulation control force required by the airship is calculated according to the load control requirement, dynamic balance is realized by adjusting the propulsion system of the airship, the dynamic coupling effect of the airship speed ring is considered, the self-adaptive control of the gesture is realized, the problems of large deviation of load tracking expected track, insufficient cable swing inhibition and unstable airship gesture are solved, and the lifting control precision of the suspended load of the airship is improved.

Inventors

  • GAO DALIANG

Assignees

  • 临舟(宁波)科技有限公司

Dates

Publication Date
20260512
Application Date
20260115

Claims (10)

  1. 1. The control method of the suspended load of the airship is characterized by comprising the following steps: Based on load desired position With actual position of load Is the first error of (2) Desired speed of load And the actual speed of the load Is the second error of (2) Calculating a first control force component in the cable direction by a load controller The first control force component is used for driving the actual position of the load Tracking the load desired position Driving the actual speed of the load Tracking the load desired speed The load desired speed According to the load desired position Determining; Based on the desired direction of the cable In the actual direction of the cable Third error of (2) Desired angular velocity of the cable With actual angular velocity of the cable Fourth error of (2) Calculating a second control force component perpendicular to the cable direction by a cable controller The second control force component For driving the actual direction of the cable Tracking the desired direction of the cable Driving the actual angular velocity of the cable Tracking the desired angular velocity of the cable Wherein the desired angular velocity of the cable According to the desired direction of the cable Determining; Based on the desired attitude angle of the airship And the actual attitude angle of the airship Fifth error of (2) The expected attitude angle of the airship is obtained through a second order instruction filter After smoothing, combining the fifth error Calculating the expected attitude angular velocity of the airship Based on the fifth error And the desired attitude angular velocity of the airship And the actual attitude angular velocity of the airship Sixth error of (2) The actual posture of the airship is adjusted through the airship controller; Based on the coupling model, the actual attitude of the airship and the total expected control force Solving the actual position of the airship And further according to the actual position of the airship Calculating the actual position of the load And the actual direction of the cable The actual position of the load is determined And the actual direction of the cable Respectively fed back to the load controller and the cable controller, wherein the total desired controller According to the first control force component And the second control force component The coupling model is obtained by superposition and comprises a six-degree-of-freedom rigid body dynamics equation of the airship, a coupling dynamics equation of the airship position and load introducing cable tension and swing angle dynamics and an airship attitude ring model equation considering cable moment.
  2. 2. The method of claim 1, wherein the airship-based desired attitude angle And the actual attitude angle of the airship Fifth error of (2) The expected attitude angle of the airship is obtained through a second order instruction filter After smoothing, combining the fifth error Calculating the expected attitude angular velocity of the airship Comprising: calculate the fifth error - ; Desired attitude angle of the airship Inputting to the second order instruction filter for smoothing to obtain a first filter state variable And further based on the first filter state variable Obtaining a second filter state variable ; According to the second filter state variable Determining a desired attitude angle for an airship First derivative estimate of (2) ; Based on the fifth error Conversion matrix of attitude angle and angular velocity The first derivative estimate Solving the expected attitude angular velocity of the airship through an expected virtual angular velocity control law 。
  3. 3. The method of claim 2, wherein the fifth error is based on And the desired attitude angular velocity of the airship And the actual attitude angular velocity of the airship Sixth error of (2) The airship actual gesture is adjusted through the airship controller, including: calculating the sixth error ; According to the fifth error Constructing a first layer of a Lithospermum function of the airship controller ; According to the fifth error And the sixth error Solving the first layer of the Liapunov function Time first derivative of (2) ; Based on the first layer of the Liapunov function Expanding to obtain a second-layer Liapunov function of the airship controller ; Based on the second layer of the Liapunov function Time first derivative of (2) Negative constraint, and obtaining the attitude control moment of the airship through solving the attitude control law of the airship; Based on the airship attitude control moment, driving the actual attitude angular speed of the airship Tracking desired attitude angular velocity of the airship Gradually converging the fifth error To complete the adjustment of the actual attitude of the airship.
  4. 4. The method of claim 1, wherein calculating, by the load controller, the first control force component in the direction of the cable comprises: Calculating the first error Calculating the second error ; Calculating a first layer of a Liapunov function of the load controller based on the first error and the second error : ; Wherein, the Is the first gain factor that is to be used, Is a second gain factor; calculating a load error feedback term from the first error and the second error Thereby according to the load error feedback term Calculating and solving the virtual control force, wherein, Is a third gain factor; and decomposing the virtual control force to obtain the first control force component.
  5. 5. The method of claim 4, wherein said calculating, by the cable controller, a second control force component perpendicular to the cable direction comprises: Calculating the third error ; Calculating a second layer of a Liapunov function of the cable controller based on the first layer of a Liapunov function and the third error ; According to the desired direction of the cable Calculating the desired angular velocity of the cable , wherein, In the form of an antisymmetric matrix, Is the expected direction of the cable Is described herein; Calculating the fourth error ; Calculating a third layer of a Liapunov function of the cable controller based on the second layer of a Liapunov function and the fourth error ; Calculating the time derivative of the third layer of the Liapunov function ; Based on Negative constraints, calculating the second control force component 。
  6. 6. The method of claim 1, wherein the airship position to load coupling dynamics equation that introduces cable tension and yaw dynamics comprises: ; Wherein, the Is the actual control force that is applied to the device, Is the mass of the airship, In order to be a load mass, Is the length of the cable which is to be used, Is the gravity acceleration vector of the gravity, For the load rotation angular velocity, Is that Is used for the matrix of the anti-symmetry of (a), Is that Is an anti-symmetric matrix of (a).
  7. 7. The method of claim 1, wherein the airship attitude ring model equation taking into account the cable moment comprises: ; Wherein, the Is a nonlinear term vector of the gesture loop, For an input matrix of attitude control moments, For the longitudinal thrust of the airship, For the purpose of controlling the moment of the gesture, A coupling matrix for the velocity loop to the attitude loop.
  8. 8. An electronic device comprising a memory, a processor and a computer program stored on the memory, the processor implementing the method of any one of claims 1-7 when the computer program is executed.
  9. 9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any of claims 1-7.
  10. 10. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-7.

Description

Control method for suspended load of airship, electronic equipment, storage medium and program product Technical Field The present application relates to the field of nonlinear control technology, and in particular, to a control method for an airship hanging load, an electronic device, a storage medium, and a program product. Background The carrying airship is used as a carrying tool with point-to-point delivery and large carrying capacity in the low-altitude field, is widely applied in various fields, and has the advantages of adapting to cargoes with different sizes and shapes, hovering, loading and unloading, ignoring terrain limitation and the like, so that the carrying airship becomes the optimal efficient transportation. However, the current airship hanging load control has obvious short plates, and the high-precision hanging requirement is difficult to meet. Disclosure of Invention The embodiment of the application provides a control method, electronic equipment, a storage medium and a program product for a suspended load of an airship, which are used for alleviating or solving one or more technical problems in the prior art. In a first aspect, an embodiment of the present application provides a method for controlling a suspended load of an airship, including: Based on load desired position With actual position of loadIs the first error of (2)Desired speed of loadAnd the actual speed of the loadIs the second error of (2)Calculating a first control force component in the cable direction by a load controllerThe first control force component is used for driving the actual position of the loadTracking the load desired positionDriving the actual speed of the loadTracking the load desired speedThe load desired speedAccording to the load desired positionDetermining; Based on the desired direction of the cable In the actual direction of the cableThird error of (2)Desired angular velocity of the cableWith actual angular velocity of the cableFourth error of (2)Calculating a second control force component perpendicular to the cable direction by a cable controllerThe second control force componentFor driving the actual direction of the cableTracking the desired direction of the cableDriving the actual angular velocity of the cableTracking the desired angular velocity of the cableWherein the desired angular velocity of the cableAccording to the desired direction of the cableDetermining; Based on the desired attitude angle of the airship And the actual attitude angle of the airshipFifth error of (2)The expected attitude angle of the airship is obtained through a second order instruction filterAfter smoothing, combining the fifth errorCalculating the expected attitude angular velocity of the airshipBased on the fifth errorAnd the desired attitude angular velocity of the airshipAnd the actual attitude angular velocity of the airshipSixth error of (2)The actual posture of the airship is adjusted through the airship controller; Based on the coupling model, the actual attitude of the airship and the total expected control force Solving the actual position of the airshipAnd further according to the actual position of the airshipCalculating the actual position of the loadAnd the actual direction of the cableThe actual position of the load is determinedAnd the actual direction of the cableRespectively fed back to the load controller and the cable controller, wherein the total desired controllerAccording to the first control force componentAnd the second control force componentThe coupling model is obtained by superposition and comprises a six-degree-of-freedom rigid body dynamics equation of the airship, a coupling dynamics equation of the airship position and load introducing cable tension and swing angle dynamics and an airship attitude ring model equation considering cable moment. In some embodiments, the airship-based desired attitude angleAnd the actual attitude angle of the airshipFifth error of (2)The expected attitude angle of the airship is obtained through a second order instruction filterAfter smoothing, combining the fifth errorCalculating the expected attitude angular velocity of the airshipComprising: calculate the fifth error -; Desired attitude angle of the airshipInputting to the second order instruction filter for smoothing to obtain a first filter state variableAnd further based on the first filter state variableObtaining a second filter state variable; According to the second filter state variableDetermining a desired attitude angle for an airshipFirst derivative estimate of (2); Based on the fifth errorConversion matrix of attitude angle and angular velocityThe first derivative estimateSolving the expected attitude angular velocity of the airship through an expected virtual angular velocity control law。 In some embodiments, the fifth error is based onAnd the desired attitude angular velocity of the airshipAnd the actual attitude angular velocity of the airshipSixth error of (2)The airship actual gestu