Unmanned aerial vehicle hanging system swing suppression method by utilizing tether/thrust coordination

Abstract

The invention relates to an unmanned aerial vehicle hanging system swing suppression method by utilizing tether / thrust coordination. A tether contracting / releasing device arranged on the multi-rotor unmanned aerial vehicle and an airscrew thrust of the multi-rotor unmanned aerial vehicle are used for inhibiting tether swing, the problem that the unmanned aerial vehicle position and posture error produced by inhibiting the swing by only utilizing the airscrew thrust can be avoided, the demand conflict of the tether swing inhibiting and multi-rotor unmanned aerial position and posture control isavoided, and the method has good practicability. The tether swing inhibiting is realized by utilizing a tether contracting / releasing device, and the condition that the conflict is produced between the thrust requirement for performing swing inhibiting by utilizing the unmanned aerial vehicle airscrew thrust and the thrust requirement in the unmanned aerial vehicle is avoided, the tether swing inhibiting under the small unmanned aerial vehicle location error can be realized, and a demand of realizing precis trajectory tracking by the unmanned aerial vehicle is satisfied; furthermore, the better swing inhibiting effect can be obtained by combining the unmanned aerial vehicle thrust to commonly inhibit the tether swing.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle suspension flight control, and relates to a method for suppressing the swing of an unmanned aerial vehicle suspension system using tether / thrust coordination, and in particular to a method for retracting and releasing the unmanned aerial vehicle during the suspension flight process of the unmanned aerial vehicle Swing suppression method for coordinated control of action and thrust of UAV. Background technique [0002] With the rapid development of multi-rotor drone technology, multi-rotor drones have been used in many military and civil fields such as natural disasters, high-altitude reconnaissance in police and military missions, agricultural plant protection, express delivery, and cargo transportation. Among them, the use of multi-rotor drones to install ropes to hang goods for transportation is an effective means of goods transportation. At the same time, due to the rapidity of the UAV h...

AI Technical Summary

Problems solved by technology

However, the above-mentioned method of using trajectory planning and controller design largely utilizes the propeller thrust of the multi-rotor UAV. , it will conflict with the position and attitude control requirements of the multi-rotor UAV, causing the multi-rotor UAV suspension system to generate large position and attitude errors during flight.

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