带机械臂的旋翼无人飞行系统实验平台设计与实现

Design and implementation of experimental platform for rotor unmanned aerial system with manipulator

针对带机械臂的旋翼无人飞行系统实验平台在二次开发设计中存在硬件选择、通信、控制的难题,文中设计一种基于开源飞控PixHawk的分层控制实验平台。该实验平台主要包括旋翼无人机、机械臂、地面站、通信模块4部分。其中,无人机姿态与位置的控制由内外环PID算法实现,机械臂的控制基于正运动学在机载计算机树莓派上实现。PC与机载计算机通过WiFi通信,相比传统的蓝牙不仅增大了通信的覆盖范围而且提高了实时通信的流畅度。采用的分层控制相比于解耦控制虽然精度降低,但所需计算资源较少且在实际中更易于实现。实验结果表明,文中实验平台实际运行稳定可靠,具有一定的鲁棒性,可为带机械臂的旋翼无人飞行系统控制算法设计及顶层应用研究实验平台的选择提供参考。

In allusion to the problems of hardware selection,communication and control in the secondary development and design of the experimental platform of rotor unmanned aerial system with manipulator,a hierarchical control experimental platform based on open source flight control PixHawk is designed in this paper.The experimental platform mainly includes four parts:rotor unmanned aerial vehicle(UAV),manipulator,ground station,and communication module.The attitude and position control of UAV is realized by means of the inner and outer loop PID algorithm,and the control of the manipulator is realized on the raspberry pi(airborne computer)based on forward kinematics.In comparison with the traditional Bluetooth communication,the PC can communicate with airborne computer through WiFi,which not only increases the coverage of communication,but also improves the fluency of real⁃time communication.In comparison with decoupling control,the hierarchical control has lower accuracy,but requires less computational resources and is easier to implement in practice.The experimental results show that the actual operation of the experimental platform is stable,reliable and has a certain robustness,which can provide a reference for the control algorithm design of rotor unmanned aerial system with manipulator and the selection of top⁃level application research experimental platform.