CN113190034B - Unmanned aerial vehicle autonomous recovery system based on Stewart bearing platform - Google Patents
Unmanned aerial vehicle autonomous recovery system based on Stewart bearing platform Download PDFInfo
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- CN113190034B CN113190034B CN202110588656.XA CN202110588656A CN113190034B CN 113190034 B CN113190034 B CN 113190034B CN 202110588656 A CN202110588656 A CN 202110588656A CN 113190034 B CN113190034 B CN 113190034B
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- 238000011084 recovery Methods 0.000 title claims abstract description 17
- 238000002955 isolation Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000002789 length control Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims 3
- 230000004083 survival effect Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle autonomous recovery system based on a Stewart bearing platform, which comprises a data acquisition module, an attitude following module, a flexible bearing module, a stable vibration isolation module and a comprehensive processing module, wherein the data acquisition module is used for acquiring a data signal; the unmanned aerial vehicle automatic supporting platform can keep the platform stable and accurately follow the posture of the unmanned aerial vehicle under the condition that the carrier runs on a bumpy road surface for supporting and flexibly and independently supporting the unmanned aerial vehicle, can greatly improve the recovery success rate and survival rate of the unmanned aerial vehicle, promotes the development of the unmanned aerial vehicle technology, and has good application prospect.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle recovery, and particularly relates to an unmanned aerial vehicle autonomous recovery system based on a Stewart bearing platform.
Background
The unmanned aerial vehicle is a powered, controllable, unmanned aerial vehicle that can carry multiple task devices, perform multiple tasks, and be reused. Due to the advantages of strong battlefield adaptability, strong battlefield viability, low cost, flexible configuration, high efficiency-cost ratio and the like, the method has important application significance in a plurality of military fields such as reconnaissance, monitoring, communication, electronic countermeasure, firepower guidance, ground attack, target simulation, early warning and the like.
When unmanned aerial vehicle carries out the task, its recovery speed and success rate have influenced unmanned aerial vehicle efficiency of carrying out the task to a great extent to unmanned aerial vehicle accepts the selection and the design of platform in independently retrieving the scheme and has decided the success rate that unmanned aerial vehicle retrieved at a great extent. Therefore, safe, reliable, the good platform of accepting of mobility has very important meaning to improving unmanned aerial vehicle and retrieving survival rate, guarantee task execution. In addition, the ground platform that removes has very important effect to improving flexibility, the mobility that unmanned aerial vehicle executed the task.
The platform of accepting that uses among the current unmanned aerial vehicle recovery scheme is the moving platform that fixed platform or limitation are big, and when unmanned aerial vehicle descended, because speed is big, inertia is big, lack buffer, easily with accept the platform and take place violent striking. In addition, this scheme during operation easily receives the influence of factors such as adverse circumstances, carrier motion, unmanned aerial vehicle self performance, take off and land the district air current, and the phenomenon that "single foot contacts to the ground" takes place easily in the unmanned aerial vehicle landing, leads to unmanned aerial vehicle to take place to turn on one's side and the fuselage damages.
Disclosure of Invention
In view of the above, the invention provides an unmanned aerial vehicle autonomous recovery system based on a Stewart receiving platform, which can realize safe and reliable ground autonomous recovery of an unmanned aerial vehicle.
The technical scheme for realizing the invention is as follows:
an unmanned aerial vehicle autonomous recovery system based on a Stewart bearing platform comprises a data acquisition module, an attitude following module, a flexible bearing module, a stable vibration isolation module and a comprehensive processing module;
the data acquisition module acquires pose information of the unmanned aerial vehicle;
the attitude tracking module takes the acquired pose information as an expected attitude, takes the attitude information of the Stewart bearing platform as an actual attitude, and performs a difference between the actual attitude and the expected attitude to obtain an attitude error, wherein the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, and the control quantity is obtained by closed-loop control by utilizing the length control quantity and the actual length of each electric cylinder, so that the attitude tracking of the unmanned aerial vehicle can be realized;
the flexible receiving module obtains acting force of the unmanned aerial vehicle on a Stewart receiving platform when the unmanned aerial vehicle lands through a force sensor of the electric cylinder, and performs admittance control after the acting force is different from the set expected control force to obtain position correction quantity of each electric cylinder, wherein the position correction quantity is used as the expected electric cylinder elongation, and control quantity is obtained through closed-loop control by utilizing the expected electric cylinder elongation and the actual length of each electric cylinder, so that landing impact force of the unmanned aerial vehicle can be buffered, and flexible receiving of the unmanned aerial vehicle is realized;
the steady vibration isolation module takes the attitude information of the Stewart bearing platform as an actual attitude, takes the horizontal attitude of the platform as an expected attitude, and performs a difference between the actual attitude and the expected attitude to obtain an attitude error, wherein the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, and the length control quantity and the actual length of each electric cylinder are subjected to closed-loop control to obtain a control quantity, so that steady vibration isolation of the Stewart bearing platform in the landing process of the unmanned aerial vehicle can be realized;
the comprehensive processing module carries out average weighting on the length control quantity of the electric cylinder output by the attitude following module and the stable vibration isolation module, then adds the length control quantity of the electric cylinder output by the flexible bearing module, and inputs the final result into the controller to execute the length control on the electric cylinder.
Further, the Stewart bearing platform is loaded on the intelligent trolley which is driven independently to steer independently.
Furthermore, the pose information of the unmanned aerial vehicle is sent to the pose following module in a wireless data transmission mode.
Further, an MPC controller is adopted as a Stewart take-over platform speed loop controller.
Further, the force sensor of the electric cylinder is built in the electric cylinder.
Has the advantages that:
compared with the prior art, the method of the invention has the following advantages:
1. the unmanned aerial vehicle automatic supporting system can keep the platform stable and accurately following the posture of the unmanned aerial vehicle to support and flexibly and automatically support the unmanned aerial vehicle when the carrier runs on a bumpy road surface, can greatly improve the recovery success rate and survival rate of the unmanned aerial vehicle, promotes the development of the unmanned aerial vehicle technology, and has a good application prospect.
2. The attitude following module enables the unmanned aerial vehicle to keep the supporting platform consistent with the attitude of the unmanned aerial vehicle in the landing process, and reduces the rollover risk of single leg landing in the landing process of the unmanned aerial vehicle.
3. The flexible receiving module provided by the invention reduces the impact force of the unmanned aerial vehicle during landing, and realizes the flexible buffering of the platform on the aircraft.
4. The stable vibration isolation module can keep the continuous and stable bearing platform of the unmanned aerial vehicle when the unmanned aerial vehicle moves to a bumpy road.
Drawings
FIG. 1 is an overall schematic diagram of the system of the present invention.
FIG. 2 is a schematic diagram of the flexible carrier module control of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides an unmanned aerial vehicle autonomous recovery system based on a Stewart bearing platform, which comprises a data acquisition module, an attitude following module, a flexible bearing module, a stable vibration isolation module and a comprehensive processing module, wherein the data acquisition module is used for acquiring a data signal; the unmanned aerial vehicle can independently and flexibly take off and land by realizing the motion control of high precision, high real-time performance and high robustness of the platform pose; the whole system is shown in figure 1.
The data acquisition module acquires pose information of the unmanned aerial vehicle; and identifying and tracking the pose of the unmanned aerial vehicle in real time. And guiding the intelligent vehicle loading, taking off and landing platform which is independently driven and independently steered to move to the position near the unmanned aerial vehicle operation position.
The unmanned aerial vehicle receives the request and descends the in-process, keeps accepting the gesture of platform and unmanned aerial vehicle unanimous, prevents that unmanned aerial vehicle "single foot from touching the end" and causing to turn on one's side. The attitude tracking module takes the acquired pose information as an expected attitude, the attitude information of the unmanned aerial vehicle as an expected pose of the moving platform can be transmitted to the platform controller through the wireless data transmission module, the pose information of the Stewart bearing platform is taken as an actual attitude, the actual attitude and the expected attitude are subjected to difference to obtain an attitude error, the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, the length control quantity and the actual length of each electric cylinder are utilized to obtain a control quantity through closed-loop control, in the embodiment, a speed loop of each electric cylinder is subjected to model prediction control, and an MPC controller is taken as a platform speed loop controller to realize the length speed loop control of the electric cylinders, so that the attitude tracking function of the moving platform is realized.
In the twinkling of an eye at unmanned aerial vehicle contact unmanned platform, for the buffering striking, adopt flexible accepting module in order to avoid damaging unmanned aerial vehicle's load device. The control principle of the flexible bearing module is shown in fig. 2, the flexible bearing module obtains acting force on a Stewart bearing platform when the unmanned aerial vehicle lands through a force sensor arranged in an electric cylinder, and performs admittance control after the acting force is different from a set expected control force to obtain position correction of each electric cylinder, the position correction is used as an expected electric cylinder elongation, and control quantity is obtained by utilizing the expected electric cylinder elongation and the actual length of each electric cylinder through closed-loop control, so that the landing impact force of the unmanned aerial vehicle can be buffered, and the flexible bearing of the unmanned aerial vehicle is realized;
after the unmanned aerial vehicle descends, the ground platform conveys the unmanned aerial vehicle to a target place, in the conveying process, in order to eliminate ground jolt, the lifting platform can be kept horizontal, the stable vibration isolation module can be used for achieving the purpose that attitude information of a Stewart bearing platform is used as an actual attitude, the horizontal attitude of the platform is used as an expected attitude, an attitude error is obtained by subtracting the actual attitude from the expected attitude, the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, and the control quantity is obtained by utilizing the length control quantity and the actual length of each electric cylinder through closed-loop control, so that the stable vibration isolation of the Stewart bearing platform in the descending process of the unmanned aerial vehicle can be achieved;
the comprehensive processing module carries out average weighting on the length control quantity of the electric cylinder output by the attitude following module and the stable vibration isolation module, then adds the length control quantity of the electric cylinder output by the flexible bearing module, and inputs the final result into the controller to execute the length control on the electric cylinder.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. An unmanned aerial vehicle autonomous recovery system based on a Stewart bearing platform is characterized by comprising a data acquisition module, an attitude following module, a flexible bearing module, a stable vibration isolation module and a comprehensive processing module;
the data acquisition module acquires pose information of the unmanned aerial vehicle;
the attitude tracking module takes the acquired pose information as an expected attitude, takes the pose information of the Stewart bearing platform as an actual attitude, and takes the actual attitude and the expected attitude as a difference to obtain an attitude error, the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, and the control quantity is obtained by closed-loop control by utilizing the length control quantity and the actual length of each electric cylinder, so that the attitude tracking of the unmanned aerial vehicle can be realized;
the flexible receiving module obtains acting force of the unmanned aerial vehicle on a Stewart receiving platform when the unmanned aerial vehicle lands through a force sensor of the electric cylinder, and performs admittance control after the acting force is different from the set expected control force to obtain position correction quantity of each electric cylinder, wherein the position correction quantity is used as the expected electric cylinder elongation, and control quantity is obtained through closed-loop control by utilizing the expected electric cylinder elongation and the actual length of each electric cylinder, so that landing impact force of the unmanned aerial vehicle can be buffered, and flexible receiving of the unmanned aerial vehicle is realized;
the steady vibration isolation module takes the attitude information of the Stewart bearing platform as an actual attitude, takes the horizontal attitude of the platform as an expected attitude, and performs a difference between the actual attitude and the expected attitude to obtain an attitude error, wherein the attitude error is subjected to inverse kinematics solution to obtain a length control quantity of each electric cylinder of the Stewart bearing platform, and the length control quantity and the actual length of each electric cylinder are subjected to closed-loop control to obtain a control quantity, so that steady vibration isolation of the Stewart bearing platform in the landing process of the unmanned aerial vehicle can be realized;
the comprehensive processing module carries out average weighting on the length control quantity of the electric cylinder output by the attitude following module and the stable vibration isolation module, then adds the length control quantity of the electric cylinder output by the flexible bearing module, and inputs the final result into the controller to execute the length control on the electric cylinder.
2. The unmanned aerial vehicle autonomous recovery system based on Stewart docking platform as claimed in claim 1, wherein the Stewart docking platform is loaded on an intelligent vehicle with independent driving and independent steering.
3. The unmanned aerial vehicle autonomous recovery system based on Stewart docking platform of claim 1, wherein the pose information of the unmanned aerial vehicle is sent to the pose following module by means of wireless data transmission.
4. The unmanned aerial vehicle autonomous recovery system based on Stewart take-up platform as claimed in claim 1 wherein, the force sensor of the electric cylinder is built in the electric cylinder.
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| CN202110588656.XA CN113190034B (en) | 2021-05-28 | 2021-05-28 | Unmanned aerial vehicle autonomous recovery system based on Stewart bearing platform |
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| CN108263633A (en) * | 2018-03-20 | 2018-07-10 | 广州亿航智能技术有限公司 | A kind of method for plane posture of landing from steady landing platform and its holding |
| WO2020181329A1 (en) * | 2019-03-12 | 2020-09-17 | Lamb Ian Conway | Active docking station for high-reliability landing and storage of uavs |
| CN110044212B (en) * | 2019-03-12 | 2021-07-30 | 西安电子科技大学 | Rotor unmanned aerial vehicle capture recovery method based on vision measurement information |
| CN109850173B (en) * | 2019-03-14 | 2020-11-24 | 燕山大学 | Multifunctional vehicle-mounted mode platform device based on six-degree-of-freedom parallel posture adjusting mechanism |
| CN110077595B (en) * | 2019-04-28 | 2021-04-30 | 北京理工大学 | Automatic landing and recovery system of unmanned autonomous aircraft under complex dynamic bump condition |
| CN110127072B (en) * | 2019-05-31 | 2020-09-04 | 河北省科学院应用数学研究所 | Unmanned aerial vehicle parallel platform based on pneumatic flexible joint |
| CN110259879B (en) * | 2019-06-12 | 2020-06-09 | 北京理工大学 | Powerless feedback vibration isolation control method and system for electric Stewart structure |
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