悬挂负载空中机器人的抗摆控制

Anti-swing control research of aerial robot with suspended load

为了解决悬挂负载空中机器人飞行时产生的负载摆动和残余振荡问题,本文采用滑模变结构方法设计了高度控制器和抗摆控制器。首先建立悬挂负载空中机器人的动力学模型,基于此设计出一阶滑模的高度控制器和二阶滑模的抗摆控制器,并且提出了一种改进型的边界层厚度可变的边界层法来降低抖震现象。最后使用MATLAB和Adams联合仿真,验证控制器的有效性。结果表明,设计出的控制器具有良好的抗摆效果,满足系统要求。

In this paper,in order to solve the problem of load swing and residual oscillation during the flight of an aerial robot with suspended load,the sliding mode variable structure method is used to design the height controller and antiswing controller.Firstly,the dynamic model of an aerial robot with suspended load is established.On this basis,the height controller of the first-order sliding mode and the anti-swing controller of the second-order sliding mode are designed.An improved boundary layer method with variable thickness of boundary layer is proposed to reduce the chattering phenomenon.Finally,the validity of the controller is verified by the joint simulation with MATLAB and Adams.The results show that the designed controller has excellent anti-swing effect and meets the system requirements.