Path planning and swing reduction control method of a four-rotor variable-rope length suspension system

Abstract

The invention discloses a path planning and swing reduction control method of a four-rotor variable-rope-length hanging system, comprising the following steps: establishing a mathematical model of the four-rotor and a swing model of the suspended load; The state of the rotor and the load is constrained, and the parameters of the spline curve are calculated according to the constraints to obtain the planned path; according to the obtained planned path, the minimum transit time that satisfies the constraints of the swing angle is obtained by using the bisection method; The level control method realizes the precise positioning of the load and the suppression of the swing angle of the load by tracking the planned path, and the load is delivered to the predetermined position in the shortest time. The method disclosed in the present invention enables the entire hoisting system to reach the desired position from the initial position in the shortest time by planning a suitable plane motion trajectory, while keeping the swing angle of the load within a small range, which not only improves the Transportation efficiency, but also to ensure the safety of transportation.

Description

technical field [0001] The invention relates to a quadrotor control method, in particular to a path planning and swing reduction control method of a quadrotor variable-rope length suspension system. Background technique [0002] In recent years, suspension controls for quadrotors have become a research hotspot and are widely used in commercial and scientific fields. Generally, manipulation devices are mainly divided into four types: grippers, manipulators, cables and others, and different manipulation devices are suitable for different application scenarios. The single-degree-of-freedom gripper is the most widely used manipulation device, which is mounted directly on or under the fuselage of a quadrotor UAV. This manipulator has three advantages: (1) it is easy to manufacture, (2) it is convenient to model and control, and (3) it is relatively inexpensive to manufacture. The manipulator mainly consists of two parts: one or more multi-DOF arms attached to the drone body and...

AI Technical Summary

Problems solved by technology

Active control is to analyze the possibility of target deviation in advance and take corresponding protective measures to achieve the target. Common control methods include optimal control and input shaping, but optimal control is more dependent on the accuracy of model establishment. For a nonlinear, strongly coupled quadrotor suspension system, it is still difficult to establish a very accurate model

The input shaping technology does not have high requirements on the accuracy of the system model, but it needs to accurately predict the swing characteristics of the load, so the robustness to external disturbances is not high

Passive control is to monitor the system in real time, process the speed and acceleration information output by the system, and send the feedback to the input terminal of the controller to control the deviation from the input terminal to achieve the goal. The most common ones are PID control and self-adaptive control, etc., but the above methods only produce more obvious control effects when the swing angle is too large, and the whole adjustment process takes a long time

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