Unmanned aerial vehicle hanging load control method utilizing tether rotor coordination

Abstract

The invention relates to an unmanned aerial vehicle hanging load control method utilizing tether rotor coordination. Tether swinging is inhibited by utilizing a tether winding and unwinding device arranged on the multi-rotor unmanned aerial vehicle and the propeller thrust of a multi-rotor unmanned aerial vehicle, meanwhile, the tether length is controlled, and tether swinging inhibition is rapider by utilizing the tether winding and unwinding and the unmanned aerial vehicle thrust coordination control. Tether length control is achieved in the moving process of the unmanned aerial vehicle hanging system, the grabbing and releasing speed of hanging loads is increased, and high practicability is achieved.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle hanging flight control, and in particular relates to a tether swing suppression and rope length control method using unmanned aerial vehicle thrust and tether retraction for coordinated control during the unmanned aerial vehicle hanging flight process. 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 hanging system for transporting goods and its adaptability to a variety of complex transportation environments, the UAV hanging flight has at...

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.

In addition, the research objects of the above articles are all simplified two-dimensional models, without considering the three-dimensional model

Moreover, none of the above articles considered the need to realize the retraction and release of the tether to control the length of the tether during the flight in order to realize the rapid grabbing and release of the hanging load during the flight of the UAV, and the use of the tether Retractable to improve the ability of tether swing suppression

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