CN108248845A - A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation - Google Patents

A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation Download PDF

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Publication number
CN108248845A
CN108248845A CN201810094313.6A CN201810094313A CN108248845A CN 108248845 A CN108248845 A CN 108248845A CN 201810094313 A CN201810094313 A CN 201810094313A CN 108248845 A CN108248845 A CN 108248845A
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CN
China
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mechanical arm
rotor flying
gravity compensation
rotor
controller
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CN201810094313.6A
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Chinese (zh)
Inventor
谭建豪
刘芯
钟杭
王耀南
李希
韩奇
孙敬陶
李瑞涵
罗琼华
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湖南大学
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Priority to CN201810094313.6A priority Critical patent/CN108248845A/en
Publication of CN108248845A publication Critical patent/CN108248845A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for

Abstract

The invention discloses a kind of rotor flying mechanical arm systems and algorithm based on dynamic center of gravity compensation, and the system comprises rotor flying platform, imaging sensor, link, mechanical arm system, system controller and ground station control devices;The rotor flying platform includes rotor craft and flight controller;Described image sensor is mounted on the front lower place of the rotor flying platform;The link is one piece of mechanical plate, for being fixedly connected with the rotor flying platform, imaging sensor and mechanical arm system;The mechanical arm system is mounted on the underface of rotor flying platform;The system controller is mounted on the surface of rotor flying platform;It is communicated between the ground station control device and the system controller using wireless mode.The system structure design is reasonable, safe, and stability is strong;The algorithm improves the accuracy rate of crawl, while also improves crawl time efficiency.

Description

A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation

Technical field

The invention belongs to Robot Designs and control technology field, are related to a kind of flying robot, and in particular to Yi Zhongji In the rotor flying mechanical arm system and algorithm of dynamic center of gravity compensation.

Background technology

While ground mobile robot technology high-speed develops, the research of unmanned vehicle also achieve it is breakthrough into Exhibition, because its have the characteristics that it is small, operation flexibly, hovering, monitoring, map remote sensing, commercially take photo by plane, agricultural using etc. fields It is widely used, but belongs to passive measurement mostly.With the continuous development of investigative technique, it is intended that flying robot Energy and environmental interaction.The terrestrial operation robot formed as ground robot loads multi-degree-of-freemechanical mechanical arm is in the disaster relief The fields such as rescue and anti-terrorism are explosion-proof get the nod and are applied successfully, and are excited by this, and people are more being carried on aircraft platforms Degree-of-freedom manipulator forms flying platform with high performance and is known as unmanned in-flight control device.This behave is by the work of mobile robot Make region and expand to three dimensions from two-dimensional space, while extend the application range of unmanned vehicle, such as in-flight control, in the air Transport etc..

2015, Ma Le, Yang Baolin et al. were in Publication No. " CN105014687A ", entitled " one kind carries more rotors Disclose a kind of mechanical arm with multi-rotor unmanned aerial vehicle in the patent of invention of the mechanical arm of unmanned plane ", mechanical arm is by large arm, small Arm and clamper composition, are fixedly connected below multi-rotor unmanned aerial vehicle.Although the invention is solved and can not freely be operated in high-altitude Problem, but since the mechanical arm degree of freedom is few, lacks flexibility, be of limited application.2017, Chen Haoyao, Quan Fengyu It is public in Publication No. " CN106985159A ", the patent of invention of entitled " a kind of flight mechanical arm with flexible crawl device " A kind of rotor flying mechanical arm with flexible crawl device is opened, wherein multi-degree-of-freemechanical mechanical arm is connected with rotor craft, soft Property grabber be connected with multi-degree-of-freemechanical mechanical arm, with it is better adapt to capture beyond the region of objective existence shape.Although the invention mechanical arm is free Degree increases, and has enough flexibilities, but only improved in structure, without fully considering mechanical arm and rotor craft Between coupling and interference, the deficient in stability in operation is captured, it is likely that crawl is caused to fail, while is only relied on artificial fixed Position mode realizes crawl, generally requires multiple exploration, inefficiency, and in the case where target and operating personnel are apart from each other It can not complete to capture.

Invention content

For the above-mentioned problems in the prior art, the present invention provides a kind of rotors based on dynamic center of gravity compensation to fly Row mechanical arm system and algorithm, the system structure design is reasonable, safe, and stability is strong;The algorithm is ensureing rotor flying On the basis of mechanical arm system stabilized flight, view-based access control model method of servo-controlling can more accurately be automatically positioned at crawl target On, the accuracy rate of crawl is improved, while also improve crawl time efficiency.

For this purpose, present invention employs following technical schemes:

A kind of rotor flying mechanical arm system based on dynamic center of gravity compensation, including rotor flying platform, imaging sensor, Link, mechanical arm system, system controller and ground station control device;The rotor flying platform include rotor craft and Flight controller;Described image sensor is mounted on the front lower place of the rotor flying platform;The link is one piece of machinery Plate, for being fixedly connected with the rotor flying platform, imaging sensor and mechanical arm system;The mechanical arm system is mounted on rotation The underface of wing flying platform;The system controller is mounted on the surface of rotor flying platform;The ground station control dress It puts and is communicated between the system controller using wireless mode.

Further, the rotor craft includes rack, horn, power-equipment and driving device, power module, positioning Module, remote control and receiver;The rack is the fuselage of aircraft platforms and the underlying carrier of other composition system modules; The horn is connected on fuselage;The power-equipment and driving device include brushless motor, brushless electricity reconciliation propeller, described Brushless electricity is adjusted to be connected with brushless motor, and the propeller is mounted on brushless motor;The power module includes model airplane battery, steady Volt circuit and battery low-pressure alarming device;The locating module is used to determine position of the rotor craft with respect to ground.

Further, the horn is 4, and adjacent horn is mutually perpendicular to;The power-equipment and driving device are 4 groups, One horn of every group of correspondence;The rack is the carbon fiber aluminum alloy airframe of 550 wheelbases;The flight controller uses kernel 32 Bit processor, the 9 axis Inertial Measurement Units including that can measure attitude of flight vehicle information in real time concentrate all flight control signals Processing, while receive and process the signal of system controller.

Preferably, described image sensor for acquisition target information in real time and is sent to system controller.

Preferably, the mechanical arm system is a five degree-of-freedom manipulator system, including five robot steering engines and is grabbed Take hand;The executing agency of the mechanical arm system includes the first steering mechanism, the first jack, the second jack, second Steering mechanism and clamping device;First steering engine is connected to form the first steering structure, the second rudder with link and first connecting rod respectively Machine and third steering engine compose in series the first jack and the second radio and tape player with first connecting rod, second connecting rod and third connecting rod respectively Structure, the 4th steering engine and third connecting rod form the second steering mechanism, the 5th steering engine and crawl hand composition clamping device;Clamping device is The component directly contacted with crawl target, jack drive clamping device contact target, and steering mechanism is adjusted by itself rotation The direction of action of whole clamping device makes clamping device to be correctly oriented and opens crawl hand.

Preferably, the ground station control device includes mechanical arm system control module, rotor craft control module, figure As information display module;The mechanical arm system control module is used to implement the motor pattern selection of mechanical arm, including emulating mould Formula and realistic model, serial port setting, arm angle pace of change are adjusted, manipulator motion control, the manipulator motion control System is included in the line motion control of cartesian space and joint angle motion control;Rotor craft control module exists including aircraft The moving step sizes up and down of cartesian space adjust the display of setting and position coordinates and attitude angle information;Image information display Module includes camera serial port setting, the image of target is shown and pixel coordinate is shown.

Preferably, real-time communication is kept between the ground station control device, system controller and flight controller;It is described Flight controller obtains real-time pose information by merging the sensor measurement datas such as Inertial Measurement Unit and GPS, and passes through dynamic State center of gravity compensation algorithm realizes the position control of aircraft, gesture stability, realizes the stabilized flight of rotor flying mechanical arm system; The system controller come the coordinated movement of various economic factors in each joint of control machinery arm, realizes the autonomous of target by Visual servoing control method Positioning and crawl.

A kind of dynamic center of gravity compensation algorithm, includes the following steps:

Step 1, digital independent;

Step 2, system gravity estimation;

Step 3, position and attitude controller based on center of gravity compensation design rotor craft.

Further, the detailed process of step 2 is as follows:

(1) barycenter of joint arm i is calculated relative to the position coordinates p of body coordinate system { B }i

In formula:Joint arm i coordinate systems J is represented respectivelyiRelative to the rotation transformation square of flying platform coordinate system { B } Battle array and position coordinates,It is the barycenter of joint arm i relative to joint arm i coordinate systems JiLocal coordinate;

(2) estimation target crawl mass of object md, when rotor craft hovers in certain point, pitch angle and roll angle In the case of being all 0, lift u1Size and total force suffered by systemIt is equal, had according to force analysis:

It is solved using least square method, m can be obtaineddEstimated value be:

(3) body coordinate system is enabled as system gravity reference frame, according to multi-body system barycenter theory of solving, rotor flying The center of gravity of mechanical arm system is:

Further, the detailed process of step 3 is as follows:

(1) define body coordinate system { B } world coordinate systemIIn position vector and direction vector be respectively ξ=[x, y, z]T,Targeted attitude angle with center of gravity compensationAnd total lifePoint It is not:

Wherein:M be rotor flying mechanical arm system gross mass, a1, a2, a3For position center of gravity compensation item;

(2) desired attitude information is obtained according to the output of positioner, with reference to system dynamics model, adds in posture Center of gravity compensation item is controlled, designs pose stabilization control device:

Wherein:(Ixx,Iyy,Izz)TFor system inertia tensor, c1,c2,c3For center of gravity compensation term, βi(i=1,2 ..., 6) be Constant, outputRepresent that rotor craft does roll motion, pitching movement and controlled quentity controlled variable needed for yawing rotation respectively;

(3) each motor is output to by decoupling, driving propeller rotation, control rotor flying mechanical arm system, which is stablized, to fly Row.

Compared with prior art, the beneficial effects of the invention are as follows:

(1) stability is strong.The stability of rotor flying mechanical arm system is influenced by external disturbance and manipulator motion, especially Be mechanical arm when performing grasping movement, manipulator motion causes rotor flying mechanical arm system center of gravity seriously to deviate.It adds in dynamic State center of gravity compensation item has good compensation effect, improves the gesture stability performance of system, enhances stability.

(2) accuracy rate is high, efficient.Dynamic center of gravity compensation algorithm proposed by the present invention is ensureing rotor flying mechanical arm system On the basis of the stabilized flight of system, view-based access control model method of servo-controlling can be more accurately automatically positioned in crawl target, promoted The accuracy rate of crawl, while also improve crawl time efficiency.

Description of the drawings

Fig. 1 is a kind of overall structure of rotor flying mechanical arm system based on dynamic center of gravity compensation provided by the present invention Schematic diagram.

Fig. 2 is the local structural graph of mechanical arm system.

Fig. 3 is a kind of flow chart of dynamic center of gravity compensation algorithm provided by the present invention.

Reference sign:1st, rotor craft;2nd, imaging sensor;3rd, link;4th, mechanical arm system;5th, first turn To mechanism;6th, the first jack;7th, the second jack;8th, the second steering mechanism;9th, clamping device.

Specific embodiment

Below in conjunction with the accompanying drawings and specific embodiment come the present invention will be described in detail, specific embodiment therein and explanation only For explaining the present invention, but it is not as a limitation of the invention.

As shown in Figure 1, the invention discloses a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation, including four Rotor craft 1, imaging sensor 2, link 3 and mechanical arm system 4, the camera of described image sensor 2 are directed downward, And it is fixed on 3 front lower place of link;Link 3 is for being fixedly connected with rotor craft 1 and mechanical arm system 4, image sensing One piece of mechanical plate of device 2;Multi-freedom Mechanism 4 can generally realize the operation in space free-position, mechanical arm configuration Degree of freedom be at least three, the degree of freedom of present invention machinery arm configuration is five, has the flexibility of arbitrary spatial position, for as possible Reduce centre-of gravity shift and operation facilitates it to be fixed on immediately below link 3.

The hardware configuration of quadrotor 1 as shown in Figure 1 includes rack, 4 groups of power-equipments and driving device, flight The parts such as controller, power module, locating module, remote control and receiver.Rack be aircraft platforms fuselage and it is embedding be associated in it is flat Four horns on platform, adjacent horn are mutually perpendicular to, and using the carbon fiber aluminum alloy airframe of 550 wheelbases, are mitigating body dead weight While improve body stability.Rack is also the underlying carrier of other composition system modules, such as flight controller, power supply, is determined Position module is all mounted on above platform.Locating module refers to GPS, determines rotor craft at present in the position on opposite ground by it. Flight controller uses 32 bit processor of kernel, and the 9 axis Inertial Measurement Units including that can measure attitude of flight vehicle information in real time, To all flight control signal centralized processings, while receive and process the signal of system controller.Power-equipment and driving device, Including propeller, brushless electricity reconciliation brushless motor, brushless electricity adjusts the control signal for receiving flight controller, and brushless motor receives again Electricity adjusts the pwm signal of output, and driving propeller rotates, and provides the total life of entire flight mechanical arm system.Power module passes through It powers after decompression for other modules of rotor craft and mechanical arm system.

Mechanical arm system 4 as shown in Figure 1 is fixedly linked with rotor craft 1 by link 3, as shown in Fig. 2, mechanical Arm system is made of five robot steering engines and crawl hand, is a five degree-of-freedom manipulator system;The mechanical arm system Executing agency includes the first steering mechanism 5, the first jack 6, the second jack 7, the second steering mechanism 8 and clamping device 9;First steering engine is connected to form the first steering structure 5, the second steering engine and third steering engine difference with link and first connecting rod respectively Compose in series the first jack 6 and the second jack 7 with first connecting rod, second connecting rod and third connecting rod, the 4th steering engine and Third connecting rod forms the second steering mechanism 8, the 5th steering engine and crawl hand composition clamping device 9;Clamping device 9 be directly with crawl The component of target contact, jack 6,7 drive 9 contact target of clamping device, and steering mechanism 5,8 is by itself rotating adjustment folder The direction of action of mechanism 9 is held, makes clamping device 9 to be correctly oriented and opens crawl hand.Mechanical arm system receives system controller Control signal, each robot steering engine is driven to rotate, realizes that mechanical arm tail end is located in space any position.

The ground control unit of rotor flying mechanical arm is made of three parts, including mechanical arm system control module, four rotations Rotor aircraft control module, image information display module, the image including camera serial port setting, target is shown and pixel coordinate is shown Show.System motion pattern is determined first, and arm angle pace of change is set, and rotor craft is in the upper bottom left of cartesian space Right moving step sizes and camera serial port setting.During practical flight, rotor craft is controlled to move to crawl target proximity first, then into One step utilizes image information, and view-based access control model servo controls rotor craft and manipulator motion to be automatically positioned in target simultaneously Side completes target crawl.

Ground control unit carries out real-time communication with system controller by wifi, and system controller leads to flight controller It crosses USB serial ports and carries out real-time communication.The attitude of flight vehicle that flight controller is measured in real time by merging self inertia measuring unit The location coordinate information that information and GPS are measured can obtain the accurate attitude angle of current flight system and position coordinates, and pass through Dynamic center of gravity compensation algorithm realizes the position control of aircraft, gesture stability, so as to overcome since manipulator motion is to quadrotor Interference caused by aircraft, realizes the stabilized flight of rotor flying mechanical arm system, wherein the desired signal of aircraft is by system Controller combines and is obtained from ground control station, the assignment instructions of imaging sensor and target image information or pass through remote control Device controls manually.Meanwhile system controller utilizes Visual servoing control side by handling the target position information of imaging sensor Method exports mechanical arm and each joint of desired signal control machinery arm of rotor craft and the coordinated movement of various economic factors of rotor craft, so as to Realize autonomous positioning and the crawl of target.

Embodiment

A kind of gesture stability block diagram of the rotor flying mechanical arm system with dynamic center of gravity compensation algorithm as shown in figure 3, Include the following steps:

(1) digital independent, including rotor craft position and attitude information and each joint angles of mechanical arm;

(2) system gravity is estimated;

Such as Fig. 3, vectorial r of the estimating system center of gravity in body coordinate system { B }G=[xG, yG,zG]T, passed by mechanical arm system It is sent to each joint angles θ of system controlleri, the barycenter of joint arm i is acquired relative to the coordinate system J of joint arm iiPart Coordinate isJoint arm i coordinate systems J is represented respectivelyiRelative to the rotational transformation matrix of flying platform coordinate system { B } And position coordinates.The barycenter of joint arm i can be calculated relative to the position coordinates p of body coordinate system { B }i, i=0 ..., 4.

According to multi-body system barycenter theory of solving, the center of gravity r of rotor flying mechanical arm systemGIt is represented by

WhereinIt is to capture target in the position vector of body coordinate system { B }, miFor the quality of each joint arm, according to upper Expression formula is stated to understand to ask for rGThe quality m of target crawl object must be first sought befored.According to system dynamics model it is found that when being System hovering is in certain point, and the pitching of flying platform and in the case that roll angle is all zero, the lift size of 4 propellers With system suffered by gravity it is equal and direction according to force analysis on the contrary, can obtainIt is carried out using least square method Solution obtains mdEstimated value:

To sum up, after the estimation of target object quality is completed, joint angle θ of the center of gravity with mechanical armiIt is related, it can represent For:

rG=g (θ01234)

(3) position and attitude controller based on center of gravity compensation design rotor craft;

The data computer body coordinate system { B } returned according to GPS and Inertial Measurement Unit position in world coordinate system { I } Vector sum direction vector is respectively ξ=[x, y, z]T,It takesAssuming that flying platform target Location point is ξd=[xd,yd,zd]T, then the site error of aircraft is ξed- ξ, construction location error equation

Therefore with reference to system dynamics model, the targeted attitude angle with center of gravity compensation can be obtainedAnd total life For

M be rotor flying mechanical arm system gross mass, a1, a2, a3For the position center of gravity compensation item of calculating, α points of wherein c α, s Not Biao Shi cos α, sin α abbreviation.

Desired attitude information is obtained according to the output of positioner as shown in Figure 3, with reference to system dynamics model, and Angular error z is defined based on Backsteppingi, wherein i=1 ..., 6, gesture stability center of gravity compensation item is added in, there is center of gravity to mend for design Repay the pose stabilization control device of item.

Wherein (Ixx,Iyy,Izz)TFor system inertia tensor, c1,c2,c3For center of gravity compensation term, βi(i=1,2 ..., 6) be Constant, outputRepresent that rotor craft does roll motion respectively, controlled quentity controlled variable needed for pitching movement and yawing rotation, Then each motor is output to by decoupling, driving propeller rotation controls rotor flying mechanical arm system stabilized flight.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to restrict the invention, all essences in the present invention Any modification, equivalent replacement and improvement made within refreshing and spirit etc., should be included in protection scope of the present invention Within.

Claims (10)

1. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation, including rotor flying platform, imaging sensor, company Connect frame, mechanical arm system, system controller and ground station control device, it is characterised in that:The rotor flying platform includes rotation Rotor aircraft and flight controller;Described image sensor is mounted on the front lower place of the rotor flying platform;The link It is one piece of mechanical plate, for being fixedly connected with the rotor flying platform, imaging sensor and mechanical arm system;The mechanical arm system System is mounted on the underface of rotor flying platform;The system controller is mounted on the surface of rotor flying platform;Describedly It is communicated between face stand control device and the system controller using wireless mode.
2. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 1, it is characterised in that: The rotor craft includes rack, horn, power-equipment and driving device, power module, locating module, remote control and reception Device;The rack is the fuselage of aircraft platforms and the underlying carrier of other composition system modules;The horn is connected to machine With;The power-equipment and driving device include brushless motor, brushless electricity reconciliation propeller, and the brushless electricity is adjusted and brushless electricity Machine is connected, and the propeller is mounted on brushless motor;It is low that the power module includes model airplane battery, regulator circuit and battery Press warning device;The locating module is used to determine position of the rotor craft with respect to ground.
3. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 2, it is characterised in that: The horn is 4, and adjacent horn is mutually perpendicular to;The power-equipment and driving device are 4 groups, one horn of every group of correspondence; The rack is the carbon fiber aluminum alloy airframe of 550 wheelbases;The flight controller uses 32 bit processor of kernel, real including energy When measure 9 axis Inertial Measurement Units of attitude of flight vehicle information, to all flight control signals centralized processings, while receive and locate Manage the signal of system controller.
4. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 1, it is characterised in that: Described image sensor is for acquisition target information in real time and is sent to system controller.
5. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 1, it is characterised in that: The mechanical arm system is a five degree-of-freedom manipulator system, including five robot steering engines and crawl hand;The mechanical arm The executing agency of system includes the first steering mechanism, the first jack, the second jack, the second steering mechanism and clamping machine Structure;First steering engine is connected to form the first steering structure, the second steering engine and third steering engine difference with link and first connecting rod respectively The first jack and the second jack, the 4th steering engine and are composed in series with first connecting rod, second connecting rod and third connecting rod Three-link forms the second steering mechanism, the 5th steering engine and crawl hand composition clamping device;Clamping device is directly with capturing target The component of contact, jack drive clamping device contact target, and steering mechanism is by itself rotating the dynamic of adjustment clamping device Make direction, make clamping device to be correctly oriented and open crawl hand.
6. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 1, it is characterised in that: The ground station control device includes mechanical arm system control module, rotor craft control module, image information display module; The mechanical arm system control module is used to implement the motor pattern selection of mechanical arm, including simulation model and realistic model, string Mouth setting, arm angle pace of change are adjusted, manipulator motion control, and it is empty that the manipulator motion control is included in Descartes Between line motion control and joint angle motion control;Rotor craft control module includes aircraft above and below cartesian space Side-to-side movement step-length adjusts the display of setting and position coordinates and attitude angle information;Image information display module includes camera serial ports It sets, the image of target is shown and pixel coordinate is shown.
7. a kind of rotor flying mechanical arm system based on dynamic center of gravity compensation according to claim 1, it is characterised in that: Real-time communication is kept between the ground station control device, system controller and flight controller;The flight controller passes through It merges the sensor measurement datas such as Inertial Measurement Unit and GPS and obtains real-time pose information, and pass through dynamic center of gravity compensation algorithm It realizes position control, the gesture stability of aircraft, realizes the stabilized flight of rotor flying mechanical arm system;The system controller By Visual servoing control method come the coordinated movement of various economic factors in each joint of control machinery arm, autonomous positioning and the crawl of target are realized.
8. a kind of dynamic center of gravity compensation algorithm according to any one of claims 1 to 7, it is characterised in that:Including following step Suddenly:
Step 1, digital independent;
Step 2, system gravity estimation;
Step 3, position and attitude controller based on center of gravity compensation design rotor craft.
9. a kind of dynamic center of gravity compensation algorithm according to claim 8, it is characterised in that:The detailed process of step 2 is such as Under:
(1) barycenter of joint arm i is calculated relative to the position coordinates p of body coordinate system { B }i
In formula:Joint arm i coordinate systems J is represented respectivelyiRelative to flying platform coordinate system { B } rotational transformation matrix and Position coordinates,It is the barycenter of joint arm i relative to joint arm i coordinate systems JiLocal coordinate;
(2) estimation target crawl mass of object md, when rotor craft hovers in certain point, pitch angle and roll angle are all 0 In the case of, lift u1Size and total force suffered by systemIt is equal, had according to force analysis:
It is solved using least square method, m can be obtaineddEstimated value be:
(3) body coordinate system is enabled as system gravity reference frame, according to multi-body system barycenter theory of solving, rotor flying machinery The center of gravity of arm system is:
10. a kind of dynamic center of gravity compensation algorithm according to claim 9, it is characterised in that:The detailed process of step 3 is such as Under:
(1) it is respectively ξ=[x, y, z] to define body coordinate system { B } position vector and direction vector in world coordinate system { I }T,Targeted attitude angle with center of gravity compensationAnd total lifeRespectively:
Wherein:M be rotor flying mechanical arm system gross mass, a1, a2, a3For position center of gravity compensation item;
(2) desired attitude information is obtained according to the output of positioner, with reference to system dynamics model, adds in gesture stability Center of gravity compensation item designs pose stabilization control device:
Wherein:(Ixx,Iyy,Izz)TFor system inertia tensor, c1,c2,c3For center of gravity compensation term, βi(i=1,2 ..., 6) it is normal Number, outputRepresent that rotor craft does roll motion, pitching movement and controlled quentity controlled variable needed for yawing rotation respectively;
(3) each motor is output to by decoupling, driving propeller rotation controls rotor flying mechanical arm system stabilized flight.
CN201810094313.6A 2018-01-31 2018-01-31 A kind of rotor flying mechanical arm system and algorithm based on dynamic center of gravity compensation CN108248845A (en)

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