带吊挂负载的四旋翼无人机的控制系统设计

Control system design of four-rotor UAV with suspended load

针对四旋翼无人机吊挂负载运输系统存在负载摆动和残余震荡的问题,本文提出一种基于负载广义运动思想和反步法相结合的内外环结构的控制策略实现该系统的快速准确跟踪.首先建立了四旋翼无人机刚绳吊挂负载系统的动力学模型,在外环控制器中采用负载广义运动思想设计一种新型储能函数,并由此构造李雅普诺夫函数控制器进行位置和摆角的同时控制;内环采用反步法进行四旋翼无人机姿态控制器设计,使其姿态角跟踪期望值.最后通过Simulink数值仿真验证了提出控制策略的有效性和可行性.仿真结果表明该方法不仅控制器结构简单,而且系统的暂态稳定性和鲁棒性较好.

Aiming at solving the problem of load swing suppression and the residual oscillations in the four-rotor UAV with suspended load,a combination of payload's generalized motion and backstepping structure of the control strategy based on internal and external loop was introduced to implement the accurate trace of target location. Subject to the dynamic model of the four-rotor UAV with suspended load,the external loop controller was designed by using a new energy storage function,based on which,a Lyapunov function controller was established to simultaneously control the position and load swing angle of the load; backstepping method was used to design the four-rotor UAV attitude controller for internal loop to make the attitude angle reach the desired value. The validity of the proposed control strategy was verified by numerical simulation,and the result indicates that this controller not only possesses a simple structure,but makes the system have a great transient stability and robustness as well.