CN116069050A - Anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method and device - Google Patents

Anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method and device Download PDF

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CN116069050A
CN116069050A CN202310181812.XA CN202310181812A CN116069050A CN 116069050 A CN116069050 A CN 116069050A CN 202310181812 A CN202310181812 A CN 202310181812A CN 116069050 A CN116069050 A CN 116069050A
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unmanned aerial
aerial vehicle
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load
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谢威
杨子樱
张卫东
王言虎
余甘
金洁
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Shanghai Jiaotong University
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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
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
    • 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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Abstract

The invention relates to a method and a device for controlling anti-disturbance anti-vibration of a lifting system of a rotor unmanned aerial vehicle, wherein the method comprises the following steps: establishing a dynamic model of a four-rotor unmanned aerial vehicle lifting system based on Newton's law of kinematics and the position relation between the load and the unmanned aerial vehicle; based on the dynamics model, a controller is constructed by using a back-step method, the load position, the cable direction and the unmanned aerial vehicle posture are controlled sequentially, meanwhile, known estimated values and unknown estimated error parts in external disturbance are separated in the control process, and a Lyapunov function containing disturbance estimated errors is built in the last step of the back-step method, so that expected thrust and the angular speed of the unmanned aerial vehicle are obtained, and the load movement is controlled. Compared with the prior art, the invention has the advantages of and the like.

Description

Anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method and device
Technical Field
The invention relates to the field of automatic control of load transportation, in particular to a method and a device for controlling anti-disturbance anti-rolling of a lifting system of a rotor unmanned aerial vehicle.
Background
Unmanned aerial vehicles include fixed-wing unmanned aerial vehicles, single-rotor unmanned aerial vehicles, multi-rotor unmanned aerial vehicles, and the like, and four-rotor unmanned aerial vehicles have been rapidly developed in recent years. The four-rotor unmanned aerial vehicle has the advantages of simple mechanical structure, higher flexibility and the like, and is widely applied in the fields of industry, agriculture, consumption, military and the like. The four-rotor unmanned aerial vehicle can be used as a platform for transporting loads in the air, and the load carrying mode comprises clamping and lifting. The load object is directly and rigidly connected with the unmanned aerial vehicle in a clamping mode, and the load is connected with the load through a cable in a hanging mode. When the clamping mode is used, the load is closer to the gravity center of the unmanned aerial vehicle, but the flexibility of the unmanned aerial vehicle is reduced. When using the mode of hanging, unmanned aerial vehicle is simpler and more easy with the connection of load, has increased the flexibility of carrying the load, can reduce unmanned aerial vehicle moment of inertia simultaneously and receive adverse effect. But the underdrive performance of the system is increased by hanging the load through the cable, so that the difficulty in controlling the movement of the unmanned aerial vehicle and the load is increased. The rotor unmanned aerial vehicle lifting load is applied to geographical survey, material transportation and the like at present, and has wide application prospect in more fields in the future.
At present, many researches on swing inhibition of a rotor unmanned aerial vehicle lifting system exist at home and abroad, and the methods mainly comprise model simplified control, nonlinear control, robust linear control and the like, and have certain limitations. Some researches are to simplify the model to reduce the complexity of the system, but in practical application, the simplification of the model can lead to the difference of control effects under different external conditions, and the control robustness is poor under the condition of uncertainty.
Disclosure of Invention
The invention aims to provide an anti-disturbance control method and device for a lifting system of a rotor unmanned aerial vehicle, which realize anti-disturbance control of a load lifting process of a four-rotor unmanned aerial vehicle, so that the load moves along a desired track with high accuracy under the condition of external disturbance.
The aim of the invention can be achieved by the following technical scheme:
the basic structure of a quad-rotor unmanned helicopter hoisting system includes a quad-rotor unmanned helicopter, a load, a cable, and related mechanical components. The system is an eight-degree-of-freedom system, and the number of degrees of freedom is larger than the number of system inputs, so that the system has underactuated characteristics. In the invention, newton's law of kinematics and the positional relationship between the load and the machine body are used for establishing a model of the whole system.
The control object of the present invention is to move a load along a desired trajectory, and thus the load is taken as a controlled object. Because the system has the underactuated property, the aim of controlling the load movement is finally achieved by controlling the gesture of the unmanned aerial vehicle and the thrust of the rotor wing. In the modeling process of the present invention, the following three assumptions are made about the system. First, the unmanned aerial vehicle body is a rigid body and the load is a particle. Second, the cable used for hoisting is an inelastic rope with a fixed length. Third, the disturbance experienced by the system is a constant known to the upper bound.
Based on the above description, the invention provides an anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method, which comprises the following steps:
s1: establishing a dynamic model of a four-rotor unmanned aerial vehicle lifting system based on Newton's law of kinematics and the position relation between the load and the unmanned aerial vehicle;
s2: based on the dynamics model, a controller is constructed by using a back-step method, the load position, the cable direction and the unmanned aerial vehicle posture are controlled sequentially, meanwhile, known estimated values and unknown estimated error parts in external disturbance are separated in the control process, and a Lyapunov function containing disturbance estimated errors is built in the last step of the back-step method, so that expected thrust and the angular speed of the unmanned aerial vehicle are obtained, and the load movement is controlled.
According to the invention, the influence of external disturbance is considered in the process of establishing the dynamic model of the four-rotor unmanned aerial vehicle lifting system, the disturbance is introduced into a Newton kinematics equation as a three-dimensional vector, and different disturbances received by the unmanned aerial vehicle body are processed. Specifically, the invention introduces disturbance into a back-stepping method, separates known and unknown estimation error parts of disturbance quantity in the back-stepping control process, includes an estimation value of the disturbance quantity in a control law, establishes a new Lyapunov function according to a disturbance term, and thereby determines an update law of the disturbance estimation value.
The model of the four-rotor unmanned aerial vehicle lifting system is a rigid body driven by external force, thrust and torque, the degree of freedom is six, two coordinate systems are established, the coordinate system of a body fixedly connected with a machine body is marked as { B }, and the origin of the coordinate system is connected with the mass center of the unmanned aerial vehicle; the inertial coordinate system is { I }, the rotation matrix from { B } to { I } is R, and the mass of the quadrotor unmanned plane is m Q The position and velocity are denoted p in { I }, respectively Q and vQ The angular velocity in { B } is Ω.
The load model is a two-degree-of-freedom particle with mass m L The position and velocity in the inertial frame are p L and vL 。
The construction process of the dynamic model of the four-rotor unmanned aerial vehicle system is as follows:
s11: in the construction process of the dynamics model, the symbol S (-) is defined as follows
Figure BDA0004102548420000021
To->
Figure BDA0004102548420000022
S (x) y=x×y, P q and Πq For a pair of orthogonal projection operations, P q ＝qq T ，Π q ＝I-qq T ＝-S(q) 2 ；
S12: the load is connected with the unmanned aerial vehicle through an inelastic cable with the length of l, and the cable is in a tensioning state in the running process of the system, so that the distance between the unmanned aerial vehicle and the load is a constant value, and the position relation between the unmanned aerial vehicle and the load is expressed as:
lq＝p L -p Q (1)
wherein q is a unit vector directed by the fuselage to the load;
s13: the load moves circularly around the mass center of the machine body, and the angular speed in the inertial coordinate system is omega, so that the following kinematic formula is loaded:
Figure BDA0004102548420000031
s14: and determining translational description of the unmanned aerial vehicle lifting system by Newton's law of motion:
Figure BDA0004102548420000032
Figure BDA0004102548420000033
Figure BDA0004102548420000034
Figure BDA0004102548420000035
in formula (5), scalar T is the total thrust generated by all rotors of the unmanned aerial vehicle, scalar T L E is the magnitude of rope tension 3 ＝[0 0 1] T G is gravity acceleration, b Q External disturbance to the unmanned aerial vehicle;
s15: determining a rotation description of the unmanned aerial vehicle:
Figure BDA0004102548420000036
s16: the second derivative of q is calculated from formulas (1) and (2), resulting in:
Figure BDA0004102548420000037
/>
the product is obtained by subtracting the conversion of the formulas (5) and (6):
Figure BDA0004102548420000038
s17: by the formula (9)
Figure BDA0004102548420000039
The expression of (2) is brought into expression (8) and both sides are multiplied by S (q), so that f= -TRe 3 To obtain the formula (10), substituting the formula (10) into the formula (7) to obtain the formula (11):
Figure BDA00041025484200000310
Figure BDA00041025484200000311
s18: from (5) + (6)
Figure BDA00041025484200000312
The method comprises the following steps:
Figure BDA0004102548420000041
s19: determining a kinetic equation of a four-rotor unmanned aerial vehicle lifting system:
Figure BDA0004102548420000042
introducing virtual thrust F in S2 d ，F d At P q The component in the direction controls the position of the load, at q The component in the direction controls the direction of the cable.
The design process of the controller is divided into three parts: load position control, cable direction control and unmanned aerial vehicle attitude control, wherein a virtual force F is set in the load position control q Obtain the expected cable direction and F at the same time d At P q A component in the direction; a second step of controlling the direction of the cable whileObtaining F d At P q A component in the direction; and thirdly, controlling the thrust to a desired direction by setting the angular speed omega of the unmanned aerial vehicle.
The load position control is as follows:
the expected track of the load motion is
Figure BDA0004102548420000043
The control being aimed at the position p of the load L The desired trajectory can be accurately tracked, first two errors of the load are defined:
Figure BDA0004102548420000044
Figure BDA0004102548420000045
wherein, the formula (14) is a position error, and the formula (15) is a speed error;
according to a dynamics model of the unmanned aerial vehicle lifting system, obtaining:
Figure BDA0004102548420000046
/>
Figure BDA0004102548420000047
the first lyapunov is given by formula (18):
Figure BDA0004102548420000048
for V 1 Deriving and substituting the formulas (16) and (17) into the feedback quantity u * ＝-k p z p -k v z v Performing addition and subtraction operations;
order the
Figure BDA0004102548420000049
Because the disturbance quantity is unknown, the disturbance term is divided into an estimated value and an estimated error to obtain the following V 1 Is the derivative of:
Figure BDA0004102548420000051
definition of virtual force F q The method comprises the following steps:
Figure BDA0004102548420000052
since the thrust force F is limited to the direction parallel to q, when F q When the direction of (c) is consistent with q, the thrust force can be completely counteracted, so that the ideal direction of the cable is defined as F q The direction of (a), namely:
Figure BDA0004102548420000053
substituting formula (20) into formula (19) to obtain:
Figure BDA0004102548420000054
virtual thrust F d The component in the q-direction is defined as
Figure BDA0004102548420000055
Substituted into (22) to obtain
Figure BDA0004102548420000056
In the final form of (2):
Figure BDA0004102548420000057
the direction control of the cable is as follows:
to achieve the defined ideal direction of the cable, the direction error of the cable is defined with a second lyapunov function:
z q ＝q-q d (25)
Figure BDA0004102548420000058
deriving (21) and then by
Figure BDA0004102548420000059
The method comprises the following steps:
Figure BDA00041025484200000510
deriving formula (20), and letting f=f d Obtaining
Figure BDA00041025484200000511
Recording device
Figure BDA0004102548420000061
Substituting (27), and further proposing a disturbance estimation error, resulting in:
Figure BDA0004102548420000062
defining a desired load angular velocity as ω d The angular velocity error is z ω ：
Figure BDA0004102548420000063
z ω ＝S(q)(ω-ω d ) (31)
Will z ω A kind of electronic device with high-pressure air-conditioning system
Figure BDA0004102548420000064
Substituting into formula (29) to obtain ∈ ->
Figure BDA0004102548420000065
New form:
Figure BDA0004102548420000066
wherein W2 The method comprises the following steps:
Figure BDA0004102548420000067
taking into account the angular velocity error defined in (31), a third lyapunov equation is obtained:
Figure BDA0004102548420000068
due to V 3 Including z in the derivative of (2) ω First derivative of (31):
Figure BDA0004102548420000069
will be
Figure BDA00041025484200000610
Substituted into V 3 Will->
Figure BDA00041025484200000611
The disturbance known quantity and the unknown quantity are separated, and the components of the expected thrust in the direction perpendicular to the rope are obtained as follows: />
Figure BDA00041025484200000612
wherein ,
Figure BDA00041025484200000613
for use +.>
Figure BDA00041025484200000614
Evaluation of disturbance +.>
Figure BDA00041025484200000615
Is a function of the estimated value of (2);
according to
Figure BDA00041025484200000616
Linear relation with disturbance, obtain:
Figure BDA00041025484200000617
the desired thrust was finally obtained as:
F d ＝P q (F d )+Π q (F d ) (38)
the unmanned aerial vehicle attitude control is:
to drive the thrust to the desired direction, a final back-stepping process is performed;
if the rotation matrix is represented by a column vector, r= [ R ] 1 r 2 r 3 ]The true thrust direction is r 3 ＝Re 3 The desired thrust direction is
Figure BDA0004102548420000071
The error in defining the thrust direction is:
Figure BDA0004102548420000072
the new lyapunov function is defined as:
Figure BDA0004102548420000073
deriving the Lyapunov function to obtain
Figure BDA0004102548420000074
wherein
Figure BDA0004102548420000075
Is a positive definite function;
in the formula (38), the amino acid sequence of the formula,
Figure BDA0004102548420000076
including an unknown amount of disturbance;
to express as
Figure BDA0004102548420000077
Linear relation to disturbance, will ∈>
Figure BDA0004102548420000078
Split into the following forms: />
Figure BDA0004102548420000079
wherein
Figure BDA00041025484200000710
Representing +.>
Figure BDA00041025484200000711
Is a function of the estimated value of (2);
and introducing an estimation error of the disturbance quantity into a Lyapunov function to obtain:
Figure BDA00041025484200000712
wherein Λ is a positive diagonal matrix; deriving this function, obtaining:
Figure BDA00041025484200000713
will be
Figure BDA00041025484200000714
and />
Figure BDA00041025484200000715
The expression of (2) is substituted into expression (41) to obtain +.>
Figure BDA00041025484200000716
The final form of (2) is:
Figure BDA00041025484200000717
Figure BDA0004102548420000081
wherein the coefficient matrix of the disturbance term is:
Figure BDA0004102548420000082
to cancel the second term of the above equation, the angular velocity set point of the unmanned aerial vehicle is obtained as:
Figure BDA0004102548420000083
the anti-disturbance anti-rolling control device of the unmanned rotorcraft lifting system comprises a memory, a processor and a program stored in the memory, wherein the processor realizes the method when executing the program.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the influence of external disturbance on the system is considered, so that disturbance estimation is introduced for eliminating the influence of unknown external disturbance on the system, and the unknown quantity in disturbance is separated in the process of designing the back-stepping controller, so that the stability of the system can be ensured under the condition of limited disturbance, the high-precision tracking of load on an expected track is realized, and the problem of load anti-rolling control under an interference environment is solved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic diagram of a positional relationship of a four-rotor unmanned aerial vehicle lifting system;
FIG. 3 is a schematic view of the circular motion of the weight;
fig. 4 is a force analysis diagram of a four rotor unmanned aerial vehicle lifting system.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The invention relates to a four-rotor unmanned aerial vehicle lifting system, wherein an unmanned aerial vehicle and a load are respectively regarded as a rigid body and a mass point and are connected by an inelastic cable. According to Newton's law of kinematics and the positional relationship among the various parts of the system, a system dynamics model is first established, wherein the unmanned aerial vehicle is subject to external disturbance. Based on the model, a controller is designed by using a backstepping method, so that the thrust and the angular speed of the unmanned aerial vehicle are obtained, and the driving load tracks the expected track. The design of the controller mainly comprises three parts, namely position control of a load, cable direction control and unmanned aerial vehicle attitude control. In order to eliminate the influence of unknown external disturbance on the system, disturbance estimators are introduced, and the unknown quantity in disturbance is separated in the process of designing the back-step method controller, so that the control law contains the estimated value of the disturbance quantity, thereby ensuring the stability of the system.
Specifically, the embodiment provides a method for controlling anti-disturbance of a lifting system of a rotor unmanned aerial vehicle, as shown in fig. 1, including the following steps:
s1: and establishing a dynamic model of the four-rotor unmanned aerial vehicle lifting system based on Newton's law of kinematics and the position relation between the load and the unmanned aerial vehicle.
In the embodiment, the influence of external disturbance is considered in the process of establishing a dynamic model of the four-rotor unmanned aerial vehicle lifting system, the disturbance is used as a three-dimensional vector to be introduced into a Newton kinematics equation, and different disturbances received by the unmanned aerial vehicle body are processed.
The model of the four-rotor unmanned aerial vehicle lifting system is a rigid body driven by external force, thrust and torque, the degree of freedom is six, as shown in fig. 2, two coordinate systems are established, a body coordinate system fixedly connected with a machine body is marked as { B }, and the origin of the coordinate system is connected with the mass center of the unmanned aerial vehicle; the inertial coordinate system is { I }, the rotation matrix from { B } to { I } is R, and the mass of the quadrotor unmanned plane is m Q The position and velocity are denoted p in { I }, respectively Q and vQ The angular velocity in { B } is Ω.
The load is modeled as a two-degree-of-freedom particle with mass m L The position and velocity in the inertial frame are p L and vL 。
S11: in the construction process of the dynamics model, the symbol S (-) is defined as follows
Figure BDA0004102548420000091
To->
Figure BDA0004102548420000092
S (x) y=x×y, P q and Πq For a pair of orthogonal projection operations, P q ＝qq T ，Π q ＝I-qq T ＝-S(q) 2 。
S12: the load is connected with the unmanned aerial vehicle through an inelastic cable with the length of l, and the cable is in a tensioning state in the running process of the system, so that the distance between the unmanned aerial vehicle and the load is a constant value, and the position relation between the unmanned aerial vehicle and the load is expressed as:
lq＝p L -p Q (1)
where q is the unit vector directed by the fuselage to the load.
S13: as shown in fig. 3, the load moves circularly around the mass center of the body, and the angular velocity in the inertial coordinate system is ω, the following kinematic formula is loaded:
Figure BDA0004102548420000101
s14: and determining translational description of the unmanned aerial vehicle lifting system by Newton's law of motion:
Figure BDA0004102548420000102
Figure BDA0004102548420000103
Figure BDA0004102548420000104
Figure BDA0004102548420000105
in formula (5), scalar T is the total thrust generated by all rotors of the unmanned aerial vehicle, scalar T L E is the magnitude of rope tension 3 ＝[0 0 1] T G is gravity acceleration, b Q Is an external disturbance experienced by the drone.
S15: determining a rotation description of the unmanned aerial vehicle:
Figure BDA0004102548420000106
s16: the second derivative of q is calculated from formulas (1) and (2), resulting in:
Figure BDA0004102548420000107
the product is obtained by subtracting the conversion of the formulas (5) and (6):
Figure BDA0004102548420000108
s17: by the formula (9)
Figure BDA0004102548420000109
The expression of (2) is brought into expression (8) and both sides are multiplied by S (q), so that f= -TRe 3 To obtain the formula (10), substituting the formula (10) into the formula (7) to obtain the formula (11):
Figure BDA00041025484200001010
Figure BDA00041025484200001011
s18: from (5) + (6)
Figure BDA00041025484200001012
The method comprises the following steps:
Figure BDA00041025484200001013
s19: determining a kinetic equation of a four-rotor unmanned aerial vehicle lifting system:
Figure BDA0004102548420000111
s2: based on the dynamics model, a controller is constructed by using a back-step method, the load position, the cable direction and the unmanned aerial vehicle posture are controlled sequentially, meanwhile, known estimated values and unknown estimated error parts in external disturbance are separated in the control process, and a Lyapunov function containing disturbance estimated errors is built in the last step of the back-step method, so that expected thrust and the angular speed of the unmanned aerial vehicle are obtained, and the load movement is controlled.
The conventional back-stepping method cannot be well applied to an underactuated system, so the invention improves the process of the back-stepping method to a certain extent, introduces disturbance into the back-stepping method, separates known and unknown estimated error parts of disturbance quantity in the back-stepping control process, comprises the estimated value of the disturbance quantity in the control law, establishes a new Lyapunov function according to the disturbance item, and determines the update law of the disturbance estimated value.
From the dynamics equation of the four-rotor unmanned aerial vehicle lifting system, the position of the load and the angle of the cable can be seen to be respectively determined at P by the thrust q and Πq Component force control in two directions. However, since the system has an underactuated characteristic, the direction of the thrust cannot be set directly, and it is necessary to control the attitude of the unmanned aerial vehicle to make the thrust reach the desired direction. Thus, virtual thrust F is introduced d ，F d At P q The component in the direction controls the position of the load, at q The component in the direction controls the direction of the cable. The overall controller design process is divided into three parts: load position control, cable direction control, and unmanned aerial vehicle attitude control. Setting a virtual force F in load position control q Further obtain the desired cable direction and F d At P q Components in the direction. The second step of controlling the direction of the cable and obtaining F d At P q Components in the direction. And thirdly, controlling the thrust to a desired direction by setting the angular speed omega of the unmanned aerial vehicle.
S21: load position control
The expected track of the load motion is
Figure BDA0004102548420000112
The control being aimed at the position p of the load L The desired trajectory can be accurately tracked, first two errors of the load are defined:
Figure BDA0004102548420000113
Figure BDA0004102548420000114
wherein equation (14) is a position error and equation (15) is a velocity error.
According to a dynamics model of the unmanned aerial vehicle lifting system, obtaining:
Figure BDA0004102548420000115
Figure BDA0004102548420000121
the first lyapunov is given by formula (18):
Figure BDA0004102548420000122
for V 1 Deriving and substituting the formulas (16) and (17) into the feedback quantity u * ＝-k p z p -k v z v And performing addition and subtraction operations.
Order the
Figure BDA0004102548420000123
Because the disturbance quantity is unknown, the disturbance term is divided into an estimated value and an estimated error to obtain the following V 1 Is the derivative of:
Figure BDA0004102548420000124
definition of virtual force F q The method comprises the following steps:
Figure BDA0004102548420000125
the stress analysis of the unmanned aerial vehicle lifting system is shown in fig. 4. Since the thrust force F is limited to the direction parallel to q, when F q When the direction of (2) is consistent with q, it is possible toIs completely counteracted by the thrust, so that the ideal direction of the cable is defined as F q The direction of (a), namely:
Figure BDA0004102548420000126
substituting formula (20) into formula (19) to obtain:
Figure BDA0004102548420000127
virtual thrust F d The component in the q direction is defined as:
Figure BDA0004102548420000128
substituted into (22) to obtain
Figure BDA0004102548420000129
In the final form of (2):
Figure BDA00041025484200001210
s22: cable direction control
To achieve the defined ideal direction of the cable, the direction error of the cable is defined with a second lyapunov function:
z q ＝q-q d (25)
Figure BDA0004102548420000131
deriving (21) and then by
Figure BDA0004102548420000132
The method comprises the following steps:
Figure BDA0004102548420000133
deriving formula (20), and letting f=f d Obtaining
Figure BDA0004102548420000134
Recording device
Figure BDA0004102548420000135
Substituting (27), and further proposing a disturbance estimation error, resulting in:
Figure BDA0004102548420000136
/>
defining a desired load angular velocity as ω d The angular velocity error is z ω ：
Figure BDA0004102548420000137
z ω ＝S(q)(ω-ω d ) (31)
Will z ω A kind of electronic device with high-pressure air-conditioning system
Figure BDA0004102548420000138
Substituting into formula (29) to obtain ∈ ->
Figure BDA0004102548420000139
New form:
Figure BDA00041025484200001310
wherein W2 The method comprises the following steps:
Figure BDA00041025484200001311
taking into account the angular velocity error defined in (31), a third lyapunov equation is obtained:
Figure BDA00041025484200001312
due to V 3 Including z in the derivative of (2) ω First derivative of (31):
Figure BDA00041025484200001313
will be
Figure BDA00041025484200001314
Substituted into V 3 Will->
Figure BDA00041025484200001315
The disturbance in (a) is separated from the unknown quantity to obtain the desired thrust and the disturbance in (b)
The components in the vertical direction of the rope are:
Figure BDA0004102548420000141
wherein ,
Figure BDA0004102548420000142
for use +.>
Figure BDA0004102548420000143
Evaluation of disturbance +.>
Figure BDA0004102548420000144
Is a function of the estimated value of (2);
according to
Figure BDA0004102548420000145
Linear relation with disturbance, obtain:
Figure BDA0004102548420000146
the desired thrust was finally obtained as:
F d ＝P q (F d )+Π q (F d ) (38)
s23: unmanned aerial vehicle attitude control
To drive the thrust to the desired direction, a final back-stepping process is performed;
if the rotation matrix is represented by a column vector, r= [ R ] 1 r 2 r 3 ]The true thrust direction is r 3 ＝Re 3 The desired thrust direction is
Figure BDA0004102548420000147
The error in defining the thrust direction is:
Figure BDA0004102548420000148
/>
the new lyapunov function is defined as:
Figure BDA0004102548420000149
deriving the Lyapunov function to obtain
Figure BDA00041025484200001410
wherein
Figure BDA00041025484200001411
Is a positive definite function;
in the formula (38), the amino acid sequence of the formula,
Figure BDA00041025484200001412
including an unknown amount of disturbance;
to express as
Figure BDA00041025484200001413
Linear relation to disturbance, will ∈>
Figure BDA00041025484200001414
Split into the following forms:
Figure BDA0004102548420000151
wherein
Figure BDA0004102548420000152
Representing +.>
Figure BDA0004102548420000153
Is a function of the estimated value of (2);
and introducing an estimation error of the disturbance quantity into a Lyapunov function to obtain:
Figure BDA0004102548420000154
wherein Λ is a positive diagonal matrix; deriving this function, obtaining:
Figure BDA0004102548420000155
will be
Figure BDA0004102548420000156
and />
Figure BDA0004102548420000157
The expression of (2) is substituted into expression (41) to obtain +.>
Figure BDA0004102548420000158
The final form of (2) is:
Figure BDA0004102548420000159
wherein the coefficient matrix of the disturbance term is:
Figure BDA00041025484200001510
to cancel the second term of the above equation, the angular velocity set point of the unmanned aerial vehicle is obtained as:
Figure BDA00041025484200001511
the method comprises the following operation steps when in actual aerial mission:
1. determining relevant physical parameters of a four-rotor unmanned aerial vehicle lifting system, including unmanned aerial vehicle mass, rope length and the like;
2. acquiring data by a sensor, wherein the data mainly comprise the motion state of the unmanned aerial vehicle, the motion state of a load and the like;
3. the control method is burnt into a four-rotor unmanned aerial vehicle controller;
4. the unmanned aerial vehicle starts to hoist loads given a desired transportation track;
5. and the load is transported to a terminal point along the expected track, and the lifting task is completed.
The method comprises the steps of firstly determining an expected track of a weight hung by the quadrotor unmanned aerial vehicle. The desired trajectory is a lemniscate, and the function of the trajectory is:
Figure BDA0004102548420000161
in the simulation, the rope length is set to be l=0.6 (m), and the mass of the quadrotor unmanned aerial vehicle is m Q =0.2 (kg), load mass m l =0.06 (kg). The initial attitude value of the quadrotor unmanned aerial vehicle is R (0) =I 3 . Control gain k p ＝4,k v ＝4,k q ＝2,k ω ＝1.5,k r =2.5, parameter h p ＝1,h ω ＝1,h r ＝1,β＝0.5，And Λ=diag (0.2,0.2,5). The disturbance suffered by the unmanned aerial vehicle is b Q ＝[0.4,0.3,0.2] T . In order to make the system operate smoothly, parameters in the control process need to be adjusted. When adjusting the control gain, the stability, convergence speed and accuracy of the system need to be considered at the same time.
In practical experiments, there is a possibility that the oscillation of the position error in the steady state may occur and the error may not be completely converged to zero, mainly for the following reasons. Firstly, the physical and mechanical model of the system is different from the actual condition, and the load is not connected with the mass center of the unmanned aerial vehicle; second, air turbulence caused by the propellers of the quad-rotor; thirdly, delay caused by limitation of physical conditions of a system such as signal transmission and the like; fourth, the established system dynamics model cannot fully represent the motion of the actual system.
Through the experiment, the control method can be verified to realize anti-disturbance anti-rolling control of the load lifting process of the four-rotor unmanned aerial vehicle, so that the load moves along the expected track with high accuracy under the condition of external disturbance.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by a person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. The anti-disturbance anti-rolling control method for the lifting system of the rotor unmanned aerial vehicle is characterized by comprising the following steps of:
s1: establishing a dynamic model of a four-rotor unmanned aerial vehicle lifting system based on Newton's law of kinematics and the position relation between the load and the unmanned aerial vehicle;
s2: based on the dynamics model, a controller is constructed by using a back-step method, the load position, the cable direction and the unmanned aerial vehicle posture are controlled sequentially, meanwhile, known estimated values and unknown estimated error parts in external disturbance are separated in the control process, and a Lyapunov function containing disturbance estimated errors is built in the last step of the back-step method, so that expected thrust and the angular speed of the unmanned aerial vehicle are obtained, and the load movement is controlled.
2. The anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method according to claim 1, wherein the model of the four-rotor unmanned aerial vehicle lifting system is a rigid body driven by external force, thrust and torque, the degree of freedom is six, two coordinate systems are established, a body coordinate system fixedly connected with a machine body is recorded as { B }, and an origin of the coordinate system is connected with a mass center of the unmanned aerial vehicle; the inertial coordinate system is { I }, the rotation matrix from { B } to { I } is R, and the mass of the quadrotor unmanned plane is m Q The position and velocity are denoted p in { I }, respectively Q and vQ The angular velocity in { B } is Ω.
3. The anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method according to claim 2, wherein the load model is a mass point with two degrees of freedom, and the mass is m L The position and velocity in the inertial frame are p L and vL 。
4. The anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method according to claim 3, wherein the construction process of the dynamics model of the four-rotor unmanned aerial vehicle system is as follows:
s11: in the construction process of the dynamics model, the symbol S (-) is defined as follows
Figure FDA0004102548390000011
To->
Figure FDA0004102548390000012
S (x) y=x×y, P q and Πq For a pair of orthogonal projection operations, P q ＝qq T ，Π q ＝I-qq T ＝-S(q) 2 ；
S12: the load is connected with the unmanned aerial vehicle through an inelastic cable with the length of l, and the cable is in a tensioning state in the running process of the system, so that the distance between the unmanned aerial vehicle and the load is a constant value, and the position relation between the unmanned aerial vehicle and the load is expressed as:
lq＝p L -p Q (1)
wherein q is a unit vector directed by the fuselage to the load;
s13: the load moves circularly around the mass center of the machine body, and the angular speed in the inertial coordinate system is omega, so that the following kinematic formula is loaded:
Figure FDA0004102548390000021
s14: and determining translational description of the unmanned aerial vehicle lifting system by Newton's law of motion:
Figure FDA0004102548390000022
Figure FDA0004102548390000023
Figure FDA0004102548390000024
Figure FDA0004102548390000025
in formula (5), scalar T is the total thrust generated by all rotors of the unmanned aerial vehicle, scalar T L E is the magnitude of rope tension 3 ＝[0 0 1] T G is gravity acceleration, b Q External disturbance to the unmanned aerial vehicle;
s15: determining a rotation description of the unmanned aerial vehicle:
Figure FDA0004102548390000026
s16: the second derivative of q is calculated from formulas (1) and (2), resulting in:
Figure FDA0004102548390000027
/>
the product is obtained by subtracting the conversion of the formulas (5) and (6):
Figure FDA0004102548390000028
s17: by the formula (9)
Figure FDA0004102548390000029
The expression of (2) is brought into expression (8) and both sides are multiplied by S (q), so that f= -TRe 3 To obtain the formula (10), substituting the formula (10) into the formula (7) to obtain the formula (11):
Figure FDA00041025483900000210
Figure FDA00041025483900000211
s18: from (5) + (6)
Figure FDA00041025483900000212
The method comprises the following steps:
Figure FDA00041025483900000213
s19: determining a kinetic equation of a four-rotor unmanned aerial vehicle lifting system:
Figure FDA00041025483900000214
Figure FDA0004102548390000031
5. the anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method according to claim 4, wherein the virtual thrust force F is introduced in s2 d ，F d At P q The component in the direction controls the position of the load, at q The component in the direction controls the direction of the cable.
6. The anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method according to claim 5, wherein the design process of the controller is divided into three parts: load position control, cable direction control and unmanned aerial vehicle attitude control, wherein a virtual force F is set in the load position control q Obtain the expected cable direction and F at the same time d At P q A component in the direction; the second step of controlling the direction of the cable and obtaining F q At P q A component in the direction; and thirdly, controlling the thrust to a desired direction by setting the angular speed omega of the unmanned aerial vehicle.
7. The anti-tamper rotor unmanned aerial vehicle lifting system roll-reducing control method of claim 6, wherein the load position control is:
the expected track of the load motion is
Figure FDA0004102548390000038
The control being aimed at the position p of the load L The desired trajectory can be accurately tracked, first two errors of the load are defined:
Figure FDA0004102548390000039
Figure FDA0004102548390000032
wherein, the formula (14) is a position error, and the formula (15) is a speed error;
according to a dynamics model of the unmanned aerial vehicle lifting system, obtaining:
Figure FDA0004102548390000033
Figure FDA0004102548390000034
the first lyapunov is given by formula (18):
Figure FDA0004102548390000035
for V 1 Deriving and substituting the formulas (16) and (17) into the feedback quantity u * ＝-k p z p -k v z v Performing addition and subtraction operations;
order the
Figure FDA0004102548390000036
Because the disturbance quantity is unknown, the disturbance term is divided into an estimated value and an estimated error to obtain the following V 1 Is the derivative of:
Figure FDA0004102548390000037
definition of virtual force F q The method comprises the following steps:
Figure FDA0004102548390000041
since the thrust force F is limited to the direction parallel to q, when F q When the direction of (c) is consistent with q, the thrust force can be completely counteracted, so that the ideal direction of the cable is defined as F q The direction of (a), namely:
Figure FDA0004102548390000042
substituting formula (20) into formula (19) to obtain:
Figure FDA0004102548390000043
virtual thrust F d The component in the q-direction is defined as
Figure FDA0004102548390000044
Substituted into (22) to obtain
Figure FDA0004102548390000045
In the final form of (2):
Figure FDA0004102548390000046
8. the anti-tamper rotor unmanned aerial vehicle lifting system roll-reducing control method of claim 7, wherein the cable direction control is:
to achieve the defined ideal direction of the cable, the direction error of the cable is defined with a second lyapunov function:
z q ＝q-q d (25)
Figure FDA0004102548390000047
deriving (21) and then by
Figure FDA0004102548390000048
The method comprises the following steps:
Figure FDA0004102548390000049
deriving formula (20), and letting f=f d Obtaining
Figure FDA00041025483900000410
Recording device
Figure FDA00041025483900000411
Substituting (27), and further proposing a disturbance estimation error, resulting in:
Figure FDA0004102548390000051
defining a desired load angular velocity as ω d The angular velocity error is z ω ：
Figure FDA0004102548390000052
z ω ＝S(q)(ω-ω d ) (31)
Will z ω A kind of electronic device with high-pressure air-conditioning system
Figure FDA0004102548390000053
Substituting into formula (29) to obtain ∈ ->
Figure FDA0004102548390000054
New form:
Figure FDA0004102548390000055
wherein W2 The method comprises the following steps:
Figure FDA0004102548390000056
taking into account the angular velocity error defined in (31), a third lyapunov equation is obtained:
Figure FDA0004102548390000057
due to V 3 Including z in the derivative of (2) ω First derivative of (31):
Figure FDA0004102548390000058
will be
Figure FDA0004102548390000059
Substituted into V 3 Will->
Figure FDA00041025483900000510
The disturbance known quantity and the unknown quantity are separated, and the components of the expected thrust in the direction perpendicular to the rope are obtained as follows: />
Figure FDA00041025483900000511
wherein ,
Figure FDA00041025483900000512
for use +.>
Figure FDA00041025483900000513
Evaluation of disturbance +.>
Figure FDA00041025483900000514
Is a function of the estimated value of (2);
according to
Figure FDA00041025483900000515
Linear relation with disturbance, obtain:
Figure FDA00041025483900000516
the desired thrust was finally obtained as:
F d ＝P q (F d )+Π q (F d ) (38)。
9. the anti-disturbance rotary-wing unmanned aerial vehicle lifting system stabilizer control method according to claim 8, wherein the unmanned aerial vehicle attitude control is:
to drive the thrust to the desired direction, a final back-stepping process is performed;
if the rotation matrix is represented by a column vector, r= [ R ] 1 r 2 r 3 ]The true thrust direction is r 3 ＝Re 3 The desired thrust direction is
Figure FDA0004102548390000061
The error in defining the thrust direction is:
Figure FDA00041025483900000617
the new lyapunov function is defined as:
Figure FDA0004102548390000062
deriving the Lyapunov function to obtain
Figure FDA0004102548390000063
wherein
Figure FDA0004102548390000064
Is a positive definite function;
in the formula (38), the amino acid sequence of the formula,
Figure FDA0004102548390000065
including an unknown amount of disturbance;
to express as
Figure FDA0004102548390000066
Linear relation to disturbance, will ∈>
Figure FDA0004102548390000067
Split into the following forms: />
Figure FDA0004102548390000068
wherein
Figure FDA0004102548390000069
Representing +.>
Figure FDA00041025483900000610
Is a function of the estimated value of (2);
and introducing an estimation error of the disturbance quantity into a Lyapunov function to obtain:
Figure FDA00041025483900000611
wherein Λ is a positive diagonal matrix; deriving this function, obtaining:
Figure FDA00041025483900000612
will be
Figure FDA00041025483900000613
and />
Figure FDA00041025483900000614
The expression of (2) is substituted into expression (41) to obtain +.>
Figure FDA00041025483900000615
The final form of (2) is:
Figure FDA00041025483900000616
Figure FDA0004102548390000071
wherein the coefficient matrix of the disturbance term is:
Figure FDA0004102548390000072
to cancel the second term of the above equation, the angular velocity set point of the unmanned aerial vehicle is obtained as:
Figure FDA0004102548390000073
10. an anti-disturbance rotary-wing unmanned aerial vehicle lifting system anti-roll control device, comprising a memory, a processor and a program stored in the memory, wherein the processor implements the method of any one of claims 1-9 when executing the program.
CN202310181812.XA 2023-02-27 2023-02-27 Anti-disturbance rotor unmanned aerial vehicle lifting system anti-roll control method and device Pending CN116069050A (en)

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CN117434846A (en) * 2023-12-20 2024-01-23 中国海洋大学 Anti-swing control method and control system for four-rotor unmanned aerial vehicle suspension system
CN117518800A (en) * 2023-11-10 2024-02-06 北京航空航天大学 Robust self-adaptive control method and system for four-rotor unmanned aerial vehicle hanging load system
CN117762162A (en) * 2024-02-22 2024-03-26 中国民用航空总局第二研究所 multi-unmanned aerial vehicle combined lifting control method and device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117518800A (en) * 2023-11-10 2024-02-06 北京航空航天大学 Robust self-adaptive control method and system for four-rotor unmanned aerial vehicle hanging load system
CN117434846A (en) * 2023-12-20 2024-01-23 中国海洋大学 Anti-swing control method and control system for four-rotor unmanned aerial vehicle suspension system
CN117434846B (en) * 2023-12-20 2024-03-26 中国海洋大学 Anti-swing control method and control system for four-rotor unmanned aerial vehicle suspension system
CN117762162A (en) * 2024-02-22 2024-03-26 中国民用航空总局第二研究所 multi-unmanned aerial vehicle combined lifting control method and device
CN117762162B (en) * 2024-02-22 2024-05-28 中国民用航空总局第二研究所 Multi-unmanned aerial vehicle combined lifting control method and device

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