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Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane

A technology of adaptive control and adaptive controller, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems affecting flight stability, UAV movement mode interference, etc., to achieve accurate Grab and deliver, solve large quality parameter mutations, and ensure the effect of system stability

Active Publication Date: 2017-05-24
哈尔滨工业大学人工智能研究院有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the sudden increase or decrease of the large mass of the rotor UAV at the time of cargo grabbing and delivery will interfere with the motion mode of the UAV and affect its flight stability. Modeling and Adaptive Control Method of Cargo Handling Rotary Wing UAV Based on Switching System
[0007] Aiming at the mode switching phenomenon caused by the sudden change of large mass parameters in the cargo handling task, a switching system modeling method is proposed, and the switching adaptive controller is designed for the two sub-modes with or without cargo, and the parameter adaptive method is used to estimate Unknown inertia parameters ensure that finite time trajectory tracking can be achieved in any sub-mode to achieve accurate cargo capture and delivery, and further determine the mode-dependent dwell time to ensure that the rotor UAV performs the overall task of cargo handling stability

Method used

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  • Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane
  • Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane
  • Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane

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specific Embodiment approach 1

[0021] Specific implementation one: as figure 1 and figure 2 As shown, a cargo handling rotor UAV modeling and adaptive control method based on a switching system includes the following steps:

[0022] Aiming at the modal switching phenomenon caused by the sudden change of mass parameters in the cargo handling task, the cargo handling process is considered to be divided into two modes: no-load mode and load mode, and based on this, a switching system modeling method is proposed.

[0023] The switching adaptive controller is designed for the two sub-modes of the no-load mode and the load mode. Considering the wind disturbance and inertia parameter uncertainty of the UAV system, robust control and adaptive parameter estimation are used respectively. The method is solved, and considering that the UAV needs to realize the grabbing and delivery of goods at the switching time, and use the limited time control to realize the limited time trajectory tracking;

[0024] A strict stab...

specific Embodiment approach 2

[0035] Embodiment 2: The difference between this embodiment and Embodiment 1 is that: the specific process of establishing the position dynamics switching model of the cargo handling quadrotor UAV in the step 1 is as follows:

[0036] Consider dividing the cargo handling process into two modes: no-load and loaded. The time period from the initial moment of the drone to the moment of cargo grabbing is called the no-load mode, and the time period from the moment of cargo grabbing to the moment of cargo delivery is called the no-load mode. called the load mode.

[0037] The position dynamics switching model of the cargo handling quadrotor UAV is established as:

[0038]

[0039] where the m i , i=1,2 represents the quality parameters of the two sub-modes of the UAV, m 1 =m represents the mass of the UAV, m 2 =m+Δm represents the total mass of the drone and the cargo, g is the acceleration of gravity, T represents the total pulling force of the rotor, E, N, H represent the x...

specific Embodiment approach 3

[0046] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that: the specific process of determining the attitude dynamics model of the cargo handling quadrotor UAV in the second step is:

[0047] The attitude dynamics model of the cargo handling quadrotor UAV considering the external wind disturbance moment can be modeled as:

[0048]

[0049] Among them, p, q, r are the coordinates of the angular velocity of the quadrotor UAV in the body coordinate system of the x-axis, y-axis and z-axis, τ φ ,τ θ ,τ ψ Represents the components of the control torque generated by the rotor in the x-axis, y-axis and z-axis in the body coordinate system, τ w,φ ,τ w,θ ,τ w,ψ Represents the components of the external wind disturbance moment in the x-axis, y-axis and z-axis of the body coordinate system, I r represents the moment of inertia of the rotor, Indicates the rotor speed under the 4-rotor UAV system, Ω σ Represents the rotational speed of the σth rotor, ...

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Abstract

The invention discloses a switching system-based modeling and adaptive control method for a cargo handling unmanned gyroplane, relates to a modeling and adaptive control method for a cargo handling unmanned gyroplane, and aims at solving the problems that the motion mode of the unmanned gyroplane is disturbed and the flight stability is affected due to massive sudden increase or sharp reduction of the unmanned gyroplane at the moments of cargo grabbing and delivery. The method comprises the following steps of (1) building a position dynamics switching model of the cargo handling unmanned gyroplane; (2) determining an attitude dynamics model of the cargo handling unmanned gyroplane; (3) building an error dynamics model for trace tracking of the cargo handling unmanned gyroplane; (4) designing a switching adaptive controller and an adaptive updating law; (5) proving the system stability of two sub-modes of the cargo handling unmanned gyroplane and determining tracking time; and (6) proving the overall stability of the unmanned gyroplane in executing a cargo handling task and determining mode dependence dwell time. The switching system-based modeling and adaptive control method is applied to the field of unmanned plane flight control.

Description

technical field [0001] The invention relates to a cargo handling rotor UAV modeling and adaptive control method based on a switching system. Background technique [0002] As a kind of flying platform that has developed rapidly in recent years, multi-rotor UAV has unique advantages compared with other UAVs. Compared with fixed-wing aircraft, it has the advantages of vertical take-off and landing and fixed-point hovering. ; Compared with the single-rotor helicopter, it uses a brushless motor as power and has no tail rotor device, so it has the advantages of simple mechanical structure, high safety, and low cost of use. At present, the multi-rotor UAV is basically a four-rotor, six-rotor or eight-rotor structure. [0003] The many advantages of multi-rotor UAV make it widely used in many fields. Among them, the use of drones to carry mechanical devices to transport items is a very promising application direction. Including the United States Amazon, GOOGLE, China SF Express, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 张立宪王辉沈俊楠刘田禾蔡博
Owner 哈尔滨工业大学人工智能研究院有限公司
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