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

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。

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.