A Novel Impedance-Based Parallel Cooperative Control Method for Front and Rear Landing Gear Hydraulic Systems of UAVs

IF 2.6 3区 工程技术 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Hua Qiu, Xinyu Wang, Guozhao Shi, Xinrong Li, Shuai Zhang, Xiangdong Kong, Kaixian Ba, Bin Yu
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引用次数: 0

Abstract

Cargo handling issues affect the ability of large heavy-duty Unmanned Aerial Vehicles (UAVs) to transport cargo and limit the development of large UAVs. Compared to conventional landing gear, hydraulically controlled landing gear can tilt the drone within a specified angle, facilitating smoother loading and unloading of goods. Therefore, it is important to study the hydraulic landing gear control system for a UAV to make the UAV’s tilt possible. In this paper, an impedance-based parallel cooperative control method for front and rear landing gear hydraulic systems of large heavy-duty UAVs is presented, which can achieve UAV tilting within a reasonable angle during the loading and unloading of cargoes by large, heavy-duty UAVs. This paper establishes the physical model of the UAV’s landing gear, the mathematical model of the hydraulic system, and the kinematic model of the airframe. Through kinematic analysis, the correlation between each hydraulic dive unit’s (HDU’s) extension length in the landing gear and the UAV’s tilt angle is established. This paper introduces a two-fold based-loop parallel control technique, featuring angle based-loop control for the UAV’s front and position based-loop control for its rear landing gear. It aims to enable the UAV to freely tilt for loading and unloading cargo at a predetermined angle, by measuring the UAV’s tilting angle, the HDU’s force exerted on the landing gear, and its positional parameters. Ultimately, the practicality of this technique is confirmed through simulations and experiments.
无人机前后起落架液压系统基于阻抗的新型并行协同控制方法
货物装卸问题影响了大型重载无人机(UAV)运输货物的能力,限制了大型无人机的发展。与传统起落架相比,液压控制起落架可使无人机在指定角度内倾斜,便于更顺畅地装卸货物。因此,研究无人机的液压起落架控制系统,使无人机的倾斜成为可能具有重要意义。本文提出了一种基于阻抗的大型重型无人机前后起落架液压系统并联协同控制方法,可实现大型重型无人机在装卸货物时在合理角度内的无人机倾斜。本文建立了无人机起落架物理模型、液压系统数学模型和机身运动学模型。通过运动学分析,建立了起落架中每个液压俯冲单元(HDU)的伸展长度与无人机倾角之间的相关性。本文介绍了一种双环并行控制技术,即无人机前起落架的角度控制和后起落架的位置控制。其目的是通过测量无人机的倾斜角度、HDU 对起落架施加的力以及起落架的位置参数,使无人机能够自由倾斜,以预定角度装卸货物。最终,通过模拟和实验证实了这一技术的实用性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Electronics
Electronics Computer Science-Computer Networks and Communications
CiteScore
1.10
自引率
10.30%
发文量
3515
审稿时长
16.71 days
期刊介绍: Electronics (ISSN 2079-9292; CODEN: ELECGJ) is an international, open access journal on the science of electronics and its applications published quarterly online by MDPI.
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