基于加速度补偿的无人机吊挂飞行抗摆控制

doi:10.11772/j.issn.1001-9081.2020050740

计算机应用 ›› 2021, Vol. 41 ›› Issue (2): 604-610.DOI: 10.11772/j.issn.1001-9081.2020050740

所属专题：前沿与综合应用

• 前沿与综合应用 • 上一篇

基于加速度补偿的无人机吊挂飞行抗摆控制

焦海林, 郭玉英, 朱正为

西南科技大学信息工程学院, 四川绵阳 621010

收稿日期:2020-06-01 修回日期:2020-07-09 出版日期:2021-02-10 发布日期:2020-08-14
通讯作者: 朱正为
作者简介:焦海林(1996-),男,山西朔州人,硕士研究生,主要研究方向:四旋翼无人机吊挂飞行控制;郭玉英(1973-),女,吉林九台人,教授,博士,主要研究方向:故障诊断、容错控制、非线性控制;朱正为(1973-),男,湖南邵阳人,副教授,博士,主要研究方向:信号与信息处理、智能算法、模式识别。
基金资助:
航空发动机高空模拟技术国防科技重点实验室创新基金资助项目（18zd9101）。

Acceleration compensation based anti-swaying flight control for unmanned aerial vehicle with slung-load

JIAO Hailin, GUO Yuying, ZHU Zhengwei

School of Information Engineering, Southwest University of Science and Technology, Mianyang Sichuan 621010, China

Received:2020-06-01 Revised:2020-07-09 Online:2021-02-10 Published:2020-08-14
Supported by:
This work is partially supported by the Innovation Fund of National Defense Key Laboratory of Science and Technology of Aero-engine Altitude Simulation Technology (18zd9101).

摘要/Abstract

摘要： 为了抑制四旋翼无人机（UAV）吊挂飞行中的载荷摆动，研究了一种新的基于加速度补偿的抗摆控制方法。首先，基于拉格朗日法建立了四旋翼UAV吊挂系统的非线性动态特性方程，并构建了能量函数来设计飞行控制系统，使四旋翼UAV跟踪参考轨迹；然后，利用吊挂载荷运动轨迹广义误差设计抗摆控制器，对四旋翼UAV进行加速度补偿以修正UAV的运动轨迹，进而抑制因四旋翼UAV快速运动造成的吊挂载荷摆动；最后，通过仿真对加速度补偿前后的UAV吊挂飞行控制效果进行对比分析。仿真结果表明，基于加速度补偿的飞行控制方法不仅能保证UAV吊挂飞行的平稳，而且能为飞行控制系统提供足够的稳定裕度。

关键词: 无人机, 吊挂飞行, 加速度补偿, 能量函数, 抗摆控制

Abstract: In order to reduce the load swing during the slung-load flight of quadrotor Unmanned Aerial Vehicle (UAV), a new anti-sway control method based on acceleration compensation was developed. First, the nonlinear dynamic equation of the quadrotor UAV hanging system was established based on the Lagrange method, and the energy functions were proposed to design the flight control systems, making the quadrotor UAV track the reference trajectory. Then, the generalized error of the motion trajectory of the slung-load was used to design the anti-sway controller, the acceleration compensation of the quadrotor UAV was carried out to modify the motion trajectory of the quadrotor UAV, thereby reducing the slung-load swing caused by the rapid motion of quadrotor UAV. Finally, some simulations were carried out to compare and analyze the effect of the slung-load flight control before and after acceleration compensation. Simulation results show that, the flight control method based on acceleration compensation can not only ensure the stability of the quadrotor UAV hanging flight, but also provide sufficient stability margin for the flight control system.

Key words: Unmanned Aerial Vehicle (UAV), slung-load flight, acceleration compensation, energy function, anti-sway control

中图分类号:

TP273.5

焦海林, 郭玉英, 朱正为. 基于加速度补偿的无人机吊挂飞行抗摆控制[J]. 计算机应用, 2021, 41(2): 604-610.

JIAO Hailin, GUO Yuying, ZHU Zhengwei. Acceleration compensation based anti-swaying flight control for unmanned aerial vehicle with slung-load[J]. Journal of Computer Applications, 2021, 41(2): 604-610.

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基于加速度补偿的无人机吊挂飞行抗摆控制

Acceleration compensation based anti-swaying flight control for unmanned aerial vehicle with slung-load

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