Control method of quadrotor UAV with manipulator based on expert PID

doi:10.11772/j.issn.1001-9081.2021060975

Journal of Computer Applications ›› 2022, Vol. 42 ›› Issue (8): 2637-2642.DOI: 10.11772/j.issn.1001-9081.2021060975

• Frontier and comprehensive applications • Previous Articles

Control method of quadrotor UAV with manipulator based on expert PID

Bao CHEN, Zupeng ZHOU(), Huan WEI, Yanzhao LYU, Zhicheng SUI

School of Mechanical and Electrical Engineering，Guilin University of Electronic Technology，Guilin Guangxi 541004，China

Received:2021-06-09 Revised:2021-08-05 Accepted:2021-08-17 Online:2022-08-09 Published:2022-08-10
Contact: Zupeng ZHOU
About author:CHEN Bao， born in 1997， M. S. candidate. His research interests include control of unmanned aerial vehicle with manipulator， unmanned aerial vehicle collaboration.
ZHOU Zupeng， born in 1977， Ph. D.， professor. His research interests include cooperative control of unmanned aerial vehicle with manipulator， bionic robot， fault diagnosis.
WEI Huan， born in 1995， M. S. candidate. His research interests include control of unmanned aerial vehicle with manipulator.
LYU Yanzhao， born in 1996， M. S. candidate. His research interests include bionic robot.
SUI Zhicheng， born in 1995， M. S. candidate. His research interests include control of unmanned aerial vehicle with manipulator.
Supported by:
National Natural Science Foundation of China(61763006)

基于专家PID的带臂四旋翼无人机控制方法

陈宝, 周祖鹏(), 卫欢, 吕延钊, 睢志成

桂林电子科技大学机电工程学院，广西桂林 541004

通讯作者: 周祖鹏
作者简介:陈宝（1997—），男，海南乐东人，硕士研究生，主要研究方向：带机械臂无人机控制、无人机协同；
周祖鹏（1977—），男，广西桂林人，教授，博士，主要研究方向：带机械臂无人机协同控制、仿生机器人、故障诊断；
卫欢（1995—），男，湖北黄冈人，硕士研究生，主要研究方向：带机械臂无人机的控制；
吕延钊（1996—），男，山东泰安人，硕士研究生，主要研究方向：仿生机器人；
睢志成（1995—），男，河南开封人，硕士研究生，主要研究方向：带机械臂无人机的控制。
基金资助:
国家自然科学资金资助项目(61763006)

Abstract

Abstract:

Compared with the Unmanned Aerial Vehicle （UAV） without manipulator， the UAV with manipulator has large deviation in the flight trajectory and is more difficult to control stably. In order to solve the precise trajectory control problem of UAV with manipulator， a control method of quadrotor UAV with manipulator based on expert PID was proposed. Firstly， the manipulator was equipped to the UAV and the two was considered as a whole， and the kinematics and dynamics system models of UAV with manipulator was established through Lagrange equation. Secondly， an expert PID controller was designed to control the stability of the system. Thirdly， the trajectory planning of the manipulator of UAV with manipulator was carried out by using quintic polynomial. Finally， the effectiveness of expert PID control method for the stability control of UAV with manipulator is verified by simulation. The experimental results show that compared with conventional PID control， the proposed control method based on expert PID improves the response speed of the system and can effectively suppress external disturbances. This method can track the trajectory of the manipulator stably under the action， and has good immunity and robustness.

Key words: Unmanned Aerial Vehicle (UAV) with manipulator, expert PID control, Unmanned Aerial Vehicle (UAV), trajectory planning, interference

摘要：

相较于未带臂的无人机，带臂无人机（UAV）的飞行轨迹会出现较大偏差，更难以稳定控制。为了解决带臂UAV的精确轨迹控制问题，提出基于专家PID的带臂四旋翼无人机控制方法。首先，将机械臂搭载于UAV上把它们作为整体，并通过拉格朗日方程建立了带臂UAV的运动学和动力学系统模型；其次，设计专家PID控制器用于对系统的稳定控制；然后利用五次多项式对带臂UAV的机械臂进行轨迹规划；最后，通过仿真验证专家PID控制方法对带臂UAV稳定控制的有效性。实验结果表明，相较于常规PID控制，所提基于专家PID的控制方法提高了系统的响应速度，且能够有效地抑制外部扰动；该方法对于动作情况下的机械臂能够稳定地跟踪其轨迹，且具有很好的抗扰性和鲁棒性。

关键词: 带臂无人机, 专家PID控制, 无人机, 轨迹规划, 干扰

CLC Number:

TP11

Bao CHEN, Zupeng ZHOU, Huan WEI, Yanzhao LYU, Zhicheng SUI. Control method of quadrotor UAV with manipulator based on expert PID[J]. Journal of Computer Applications, 2022, 42(8): 2637-2642.

陈宝, 周祖鹏, 卫欢, 吕延钊, 睢志成. 基于专家PID的带臂四旋翼无人机控制方法[J]. 《计算机应用》唯一官方网站, 2022, 42(8): 2637-2642.

Figures/Tables 11

Fig. 1 System of quadrotor UAV with manipulator

Fig. 2 Coordinate system model of UAV with manipulator

Fig. 3 Structure of control system of UAV with manipulator

Tab. 1 Simulation parameters of quadrotor UAV system with manipulator

参数	取值	参数	取值
$I x x$	0.024 kg·m²	$d$	0.25
$I y y$	0.024 kg·m²	$H$	0.5
$I z z$	0.045 9 kg·m²	$m 1$	0.800 kg
$m v$	1.2 kg	$m 2$	0.050 kg
$C t$	3×10^-5	$L 1$	0.20 m
$C q$	7.5×10^-7	$L 2$	0.10 m

Tab. 1 Simulation parameters of quadrotor UAV system with manipulator

参数	取值	参数	取值
$I x x$	0.024 kg·m²	$d$	0.25
$I y y$	0.024 kg·m²	$H$	0.5
$I z z$	0.045 9 kg·m²	$m 1$	0.800 kg
$m v$	1.2 kg	$m 2$	0.050 kg
$C t$	3×10^-5	$L 1$	0.20 m
$C q$	7.5×10^-7	$L 2$	0.10 m

Fig. 4 Curve comparison of position

Fig. 5 Curve comparison of yaw angle ψ

Fig. 6 Curve comparison of joint angles of manipulator

Fig. 7 Curve comparison of external interference

Fig. 8 Comparison of trajectory curves of UAV with manipulator

Fig. 9 Curve comparison of manipulator angle trajectories

Fig. 10 Manipulator angular velocity

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Control method of quadrotor UAV with manipulator based on expert PID

基于专家PID的带臂四旋翼无人机控制方法

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