Unmanned aerial vehicle (UAV) circular-path suspension transportation control method and system based on time-delay feedback

Abstract

The invention provides a control method for a circular-path suspension transportation process of an unmanned aerial vehicle (UAV). The method comprises the following steps: establishing a kinetic equation for the circular-path suspension transportation process based on a first-order time-delay model of a multi-rotor UAV; designing a control system for the system, wherein the control system comprises time-delay feedback control, proportional control and feedforward control; obtaining a state-space equation of the control system according to a system chart; writing derivatives of points as a linear combination of function values corresponding to sampling points through the differential quadrature method, and writing the function values of the points as a linear combination of the function values of the sampling points through the Lagrange's interpolation method, so that a transfer matrix of the system is obtained; and with the spectral radius of the transfer matrix as an indicator, searching for a stability domain and the optimum transportation parameter of the system. The control method provided by the invention has the advantages that the swing amplitude of goods in the circular-path suspension transportation process of the UAV can be reduced, so that the maximum circular flight speed of the UAV can be increased, and the circular-path suspension transportation efficiency can beimproved.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for controlling the suspension and transportation of unmanned aerial vehicles on a circular path based on time-delay feedback. Background technique [0002] Drones have many important applications, and transporting items over long distances is one of them. For the flight control of the UAV itself, there are many mature control methods, but the control of the suspension transportation process is still an important research direction. According to the different paths, the suspension transportation control of aircraft can be divided into the control of linear path suspension transportation and the control of circular path suspension transportation. The difference between the two is that the latter needs to consider centrifugal force, while the former does not. At present, there are two control methods used in the suspension transportatio...

AI Technical Summary

Problems solved by technology

The former has a certain control effect on the suspension transportation process of the aircraft circular path, but its control idea and parameter solution method are different from the traditional control; the latter uses the traditional feedback control idea and adds a time-delay link to the feedback loop for control. But the simple time-delay feedback control is only suitable for the control of suspension transport in straight path

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