旋翼无人机柔性吊挂动力学与控制方法研究

Rotor UAV conventional operation, the load is generally fixed on the fuselage, and the load through the flexible cable hanging on the fuselage, you do not have to consider the UAV's own load capacity and load shape and fuselage matching problem, the goods Transport, battlefield mine clearance and other applications more advantages. However, UAV flexible suspension is a multivariable, non-linear, strongly coupled, under-driven complex controlled process. UAV flying suspension, the system stability will be affected by the load swing, has become the application of the theory and technology bottlenecks. Therefore, the research on the dynamics and control method of flexible suspension of rotary UAV has important theoretical significance and application value. The project intends to establish the theory and technical methods of UAV flexible suspension from three aspects of modeling, planning and control. First of all, it is proposed to use Newton-Euler method to establish the multi-degree-of-freedom suspended rotor UAV model for system dynamics analysis; then, predictive control is to be used to establish the coordinated dynamic programming method of the suspended UAV; finally, based on the acceleration and force feedback, Coordinated motion control method between machine and hanger to solve its robust tracking control problem. In order to achieve the purpose of stable flight through theoretical and experimental verification. This project is not only a useful exploration of UAV control theory, but also an expansion of its practical application.

旋翼无人机常规作业时，负载一般固定在机身上，而将负载通过柔性缆绳吊挂在机身上，则不用考虑无人机本身装载容积以及负载外形与机身的匹配问题，在货物运输、战场扫雷等应用场合更具优势。然而，无人机柔性吊挂是一个多变量、非线性、强耦合、欠驱动的复杂被控过程。无人机吊挂飞行时，系统稳定性会受到负载摆动的影响，成为了该应用推广的理论和技术瓶颈。因此，对于旋翼无人机柔性吊挂动力学及控制方法的研究具有重要的理论意义和应用价值。本项目拟从建模、规划与控制三方面建立无人机柔性吊挂过程的理论及技术方法。首先拟采用牛顿-欧拉法建立多自由度吊挂旋翼无人机模型进行系统动力学分析；而后拟采用预测控制建立吊挂无人机协调动态规划方法；最后基于加速度及力反馈建立无人机与吊挂物的协调运动控制方法，解决其鲁棒跟踪控制问题。以此通过理论和实验验证达到稳定飞行的目的。本项目不仅是对无人机控制理论的一次有益探索，也是对其实际应用的拓展。

旋翼无人机常规作业时，负载一般固定在机身上，而将负载通过柔性缆绳吊挂在机身上，.则不用考虑无人机本身装载容积以及负载外形与机身的匹配问题，在货物运输、战场扫雷等应.用场合更具优势。然而，无人机柔性吊挂是一个多变量、非线性、强耦合、欠驱动的复杂被控过程。无人机吊挂飞行时，系统稳定性会受到负载摆动的影响，成为了该应用推广的理论和技术瓶颈。因此，对于旋翼无人机柔性吊挂动力学及控制方法的研究具有重要的理论意义和应用价值。本项目拟从建模、规划与控制三方面建立无人机柔性吊挂过程的理论及技术方法。首先拟采用牛顿-欧拉法建立多自由度吊挂旋翼无人机模型进行系统动力学分析；而后拟采用预测控制建立吊挂无人机协调动态规划方法；最后基于加速度及力反馈建立无人机与吊挂物的协调运动控制方法，解决其鲁棒跟踪控制问题。以此通过理论和实验验证达到稳