基于能量耦合的四旋翼无人机悬挂式有效载荷可变绳长增强型控制方法

IF 1.9 4区 工程技术 Q2 Engineering
Yifan Zhang, Bo Fan, Lifan Sun, Guoxing Huang, Yi Zhao
{"title":"基于能量耦合的四旋翼无人机悬挂式有效载荷可变绳长增强型控制方法","authors":"Yifan Zhang, Bo Fan, Lifan Sun, Guoxing Huang, Yi Zhao","doi":"10.1007/s12541-024-01052-1","DOIUrl":null,"url":null,"abstract":"<p>The quadrotor suspended payload systems have difficulties to achieve precise positioning of the quadrotor UAV and suppression of the load swing angle at the same time because of their characteristics, such as underactuated, strongly coupling, nonlinear and so on. An enhanced coupling anti-swing controller is proposed to solve these problems. With analysis on the relationship between the displacement of quadrotor UAV and the payload swing angle, the three-dimensional dynamic variable rope length model of a quadrotor UAV based on Euler–Lagrange equation is built. An anti-swing method based on energy coupling is designed for this system to realize positioning and eliminate the problem of residual load swing. A new auxiliary signal function is constructed to enhance the coupling relationship between UAV position and load position. The control strategy of three-dimensional quadrotor UAV is designed based on the signal function by the Lyapunov stability theory. The stability of this system is proved by the Lyapunov method and the Barbalat's Lemma. With the experiment, the proposed method is compared with different control methods, the results show that the proposed method can realize the accurate positioning of the quadrotor UAV more quickly and restrain the load swing more effectively. It has strong robustness and stability after the system is added to the disturbance.</p>","PeriodicalId":14359,"journal":{"name":"International Journal of Precision Engineering and Manufacturing","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2024-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"An Enhanced Energy Coupling-Based Control Method for Quadrotor UAV Suspended Payload with Variable Rope Length\",\"authors\":\"Yifan Zhang, Bo Fan, Lifan Sun, Guoxing Huang, Yi Zhao\",\"doi\":\"10.1007/s12541-024-01052-1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The quadrotor suspended payload systems have difficulties to achieve precise positioning of the quadrotor UAV and suppression of the load swing angle at the same time because of their characteristics, such as underactuated, strongly coupling, nonlinear and so on. An enhanced coupling anti-swing controller is proposed to solve these problems. With analysis on the relationship between the displacement of quadrotor UAV and the payload swing angle, the three-dimensional dynamic variable rope length model of a quadrotor UAV based on Euler–Lagrange equation is built. An anti-swing method based on energy coupling is designed for this system to realize positioning and eliminate the problem of residual load swing. A new auxiliary signal function is constructed to enhance the coupling relationship between UAV position and load position. The control strategy of three-dimensional quadrotor UAV is designed based on the signal function by the Lyapunov stability theory. The stability of this system is proved by the Lyapunov method and the Barbalat's Lemma. With the experiment, the proposed method is compared with different control methods, the results show that the proposed method can realize the accurate positioning of the quadrotor UAV more quickly and restrain the load swing more effectively. It has strong robustness and stability after the system is added to the disturbance.</p>\",\"PeriodicalId\":14359,\"journal\":{\"name\":\"International Journal of Precision Engineering and Manufacturing\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2024-06-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Precision Engineering and Manufacturing\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s12541-024-01052-1\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Precision Engineering and Manufacturing","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s12541-024-01052-1","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0

摘要

四旋翼悬挂式有效载荷系统由于其欠动、强耦合、非线性等特点,很难同时实现四旋翼无人机的精确定位和载荷摆角的抑制。为解决这些问题,提出了一种增强耦合防摆动控制器。通过分析四旋翼无人机位移与有效载荷摆角之间的关系,建立了基于欧拉-拉格朗日方程的四旋翼无人机三维动态变绳长模型。为该系统设计了基于能量耦合的防摆动方法,以实现定位并消除残余载荷摆动问题。构建了一种新的辅助信号函数,以增强无人机位置与负载位置之间的耦合关系。基于信号函数,利用李亚普诺夫稳定性理论设计了三维四旋翼无人机的控制策略。利用 Lyapunov 方法和 Barbalat 定理证明了该系统的稳定性。通过实验,将所提出的方法与不同的控制方法进行了比较,结果表明所提出的方法能更快地实现四旋翼无人机的精确定位,更有效地抑制载荷摆动。在系统受到干扰后,具有很强的鲁棒性和稳定性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

An Enhanced Energy Coupling-Based Control Method for Quadrotor UAV Suspended Payload with Variable Rope Length

An Enhanced Energy Coupling-Based Control Method for Quadrotor UAV Suspended Payload with Variable Rope Length

The quadrotor suspended payload systems have difficulties to achieve precise positioning of the quadrotor UAV and suppression of the load swing angle at the same time because of their characteristics, such as underactuated, strongly coupling, nonlinear and so on. An enhanced coupling anti-swing controller is proposed to solve these problems. With analysis on the relationship between the displacement of quadrotor UAV and the payload swing angle, the three-dimensional dynamic variable rope length model of a quadrotor UAV based on Euler–Lagrange equation is built. An anti-swing method based on energy coupling is designed for this system to realize positioning and eliminate the problem of residual load swing. A new auxiliary signal function is constructed to enhance the coupling relationship between UAV position and load position. The control strategy of three-dimensional quadrotor UAV is designed based on the signal function by the Lyapunov stability theory. The stability of this system is proved by the Lyapunov method and the Barbalat's Lemma. With the experiment, the proposed method is compared with different control methods, the results show that the proposed method can realize the accurate positioning of the quadrotor UAV more quickly and restrain the load swing more effectively. It has strong robustness and stability after the system is added to the disturbance.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
4.10
自引率
10.50%
发文量
115
审稿时长
3-6 weeks
期刊介绍: The International Journal of Precision Engineering and Manufacturing accepts original contributions on all aspects of precision engineering and manufacturing. The journal specific focus areas include, but are not limited to: - Precision Machining Processes - Manufacturing Systems - Robotics and Automation - Machine Tools - Design and Materials - Biomechanical Engineering - Nano/Micro Technology - Rapid Prototyping and Manufacturing - Measurements and Control Surveys and reviews will also be planned in consultation with the Editorial Board.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信