A Swing Suppression Method for UAV Suspension System Using Tether/Thrust Coordination

Abstract

The present invention relates to a method for suppressing the swing of an unmanned aerial vehicle suspension system utilizing tether / thrust coordination, using a tether retractable device installed on a multi-rotor unmanned aerial vehicle and the propeller thrust of the multi-rotor unmanned aerial vehicle to suppress the swing of the tether, It avoids the problem of excessive UAV pose error caused by simply using the propeller thrust to suppress the swing, avoids the conflict between tether swing suppression and multi-rotor UAV pose control, and has good practicability. The tether swing suppression is realized by using the tether retractable device, which avoids the conflict between the thrust requirements when using the UAV propeller thrust for swing suppression and the thrust requirements during the UAV pose control process, and can realize the UAV Tether swing suppression in the case of small position error meets the needs of UAVs to achieve precise trajectory tracking. In addition, combined with the thrust of the UAV to suppress the swing of the tether, a better swing suppression effect can be achieved.

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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