CN116424555B - Unmanned aerial vehicle hanging swing eliminating and control method - Google Patents

Unmanned aerial vehicle hanging swing eliminating and control method Download PDF

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Publication number
CN116424555B
CN116424555B CN202310689655.3A CN202310689655A CN116424555B CN 116424555 B CN116424555 B CN 116424555B CN 202310689655 A CN202310689655 A CN 202310689655A CN 116424555 B CN116424555 B CN 116424555B
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longitudinal
transverse
swing
acceleration
unmanned aerial
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CN116424555A (en
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彭钧
刘帅
王林涛
文厚林
曾东
何晓萍
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Sichuan Tengdun Technology Co Ltd
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Sichuan Tengdun Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses a hanging and swing eliminating control method of an unmanned aerial vehicle, which comprises the following steps: installing an inclination sensor in the hanging system; applying an inclination correction formula to the original longitudinal and lateral inclination data; applying an angular velocity correction formula to the original longitudinal and lateral angular velocity data; applying a swing speed calculation formula to the longitudinal and transverse angular speed correction values; applying an acceleration feedback quantity calculation formula to the longitudinal and transverse swing speed correction value to obtain an acceleration feedback quantity; superposing the acceleration feedback quantity to a longitudinal and transverse acceleration control target; according to the energy formula, the proper acceleration feedback quantity can realize the object of eliminating the swing of the suspended object, which can be attenuated along with the time. The invention has the advantages that: the accurate perception of the swing amplitude and the phase of the suspended object is realized by establishing an inclination angle sensor correction method; and a feedback control method of the swinging state of the suspended object for the unmanned aerial vehicle to fly is established according to the calculation method of the eliminating furnishing meter and the system logic, so that the swinging of the suspended object is effectively inhibited.

Description

Unmanned aerial vehicle hanging swing eliminating and control method
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle hanging transportation, and particularly relates to an unmanned aerial vehicle hanging swing eliminating and controlling method.
Background
Unmanned aerial vehicles have gained tremendous development in the air logistics transportation industry with their own unique advantages. The hanging form has good adaptability to different cargo shapes, and becomes one of typical unmanned aerial vehicle transportation delivery modes. As an ideal operation platform, the unmanned aerial vehicle has the characteristics of flexible maneuvering, small limit of a take-off and landing site, short maintenance preparation period and the like, can rapidly and efficiently develop high-strength multi-frequency material throwing operation, and is increasingly widely applied in various fields.
When the unmanned aerial vehicle flies in a hanging way, under the influence of factors such as flight state change (such as acceleration and deceleration, turning and the like) and air flow mutation and the like, the suspended object can be excited, and then swing is generated. The swing of the suspended object can obviously increase the risk of collision between the suspended object and important parts of a building, a topographic obstacle and even an unmanned aerial vehicle, and can greatly increase overload of the suspended object and increase the risk of breakage of a sling. The suspended object mass can reach higher duty ratio in unmanned aerial vehicle flight weight, and suspended object swing probably produces harmful coupling with unmanned aerial vehicle flight gesture, causes the swing range to diverge, makes unmanned aerial vehicle get into complicated flight condition, threatens flight safety. Therefore, the effective elimination of the swing of the suspended object is important to ensure the flight safety and the task reliability of the suspended task with a large weight ratio of the unmanned aerial vehicle.
When a helicopter is flying to a large weight ratio, an observer is arranged in the cabin. The observer observes the swinging state of the hanging object and timely notifies the swinging phase of the hanging object. The pilot maneuvers the helicopter to make corresponding maneuvers to dampen and gradually eliminate the oscillations of the hangings. For unmanned helicopters, no observer observes the amplitude and phase of cargo swing on the aircraft, and there is time delay in on-board status downloading and flight operator operation instruction uploading on the ground, and if on-board status perception is relied on, accurate and effective treatment by the flight operator is difficult to achieve.
Disclosure of Invention
The invention aims at: the invention provides a method for eliminating swing of an unmanned aerial vehicle hanging and controlling the unmanned aerial vehicle hanging, and solves the problem of swing of an unmanned aerial vehicle hanging object.
The aim of the invention is achieved by the following technical scheme:
a hanging and swing eliminating control method of an unmanned aerial vehicle comprises the following steps:
step S01, installing an inclination sensor in a hanging system;
step S02, an inclination correction formula is applied to the original longitudinal and transverse inclination data measured by the inclination sensor;
step S03, applying an angular velocity correction formula to the original longitudinal and transverse angular velocity data measured by the inclination sensor;
step S04, applying a swinging speed calculation formula to the longitudinal and transverse angular speed correction value;
step S05, multiplying the longitudinal and transverse swing speed correction values by gain coefficients to obtain longitudinal and transverse acceleration feedback quantities of the unmanned aerial vehicle;
step S06, superposing the longitudinal and transverse acceleration feedback amounts of the unmanned aerial vehicle to longitudinal and transverse acceleration control targets of the unmanned aerial vehicle, and performing acceleration control of the unmanned aerial vehicle;
and S07, according to an energy formula, the vibration energy of the suspended object is attenuated along with time, and the purpose of restraining the vibration of the suspended object is realized.
Further, in step S01, an inclination sensor is mounted on the sling, and the sensor swings longitudinally and laterally with a swing length ofL x 'AndL y 'the swing length of the hanging object in the longitudinal and transverse swinging is respectivelyL x AndL y the system acceleration in the longitudinal direction and the transverse direction is X system And-> y system ，/> X system And-> y system For systems in the longitudinal and transverse directionsThe derivative of system acceleration with respect to time.
Further, in step S02, correction of inclination angles of longitudinal and lateral measurements is performed:
；
；
wherein:α x true 、α y is true The real inclination angles of the inclination angle sensors in the longitudinal direction and the transverse direction are respectively,α x-measurement 、α y-measurement Respectively measuring the inclination angles measured by the inclination angle sensor in the longitudinal direction and the transverse direction,gravitational acceleration.
Further, in step S03, the measured angular velocity is corrected for the longitudinal and lateral directions:
；
；
wherein:ω x true 、ω y is true The true angular velocity of the inclination sensor in the longitudinal direction and the transverse direction are respectively,ω x-measurement 、ω y-measurement The angular velocity of the inclination sensor is measured longitudinally and transversely.
Further, in step S04, the swing speed of the hanging object is obtained:
；
；
wherein:v x 、v y the swinging linear speeds of the hanging object in the longitudinal direction and the transverse direction are respectively.
Further, in step S05, an acceleration feedback amount is obtained:
；
。
wherein:and->The feedback quantity of longitudinal and transverse acceleration of the unmanned aerial vehicle is respectively,K 1 、K 2 the longitudinal and transverse gain coefficients are respectively.
Further, in step S06, feedback amounts based on longitudinal and lateral swing accelerations are added to the original acceleration control target of the fly-pipe system, respectively, so as to establish a suspension swing-eliminating control feedback logic.
Further, in step S07, according to the energy formula:
；
wherein:Ein order to realize the swing energy of the suspended objects,tin order to be able to take time,min order to be used for hanging the object,gthe acceleration of the gravity is that,Lthe swinging length of the suspended object in the swinging direction;xfor the horizontal distance of the hanger from the equilibrium position,vin order to achieve the movement speed of the hanger relative to the unmanned aerial vehicle,is unmannedAcceleration feedback quantity of the machine; the swing elimination control feedback logic realizes the attenuation of the swing energy of the suspended object along with the time and the purpose of inhibiting the swing of the suspended object.
The invention has the beneficial effects that: the accurate perception of the swing amplitude and the phase of the suspended object is realized by establishing an inclination angle sensor correction method; according to the method for calculating the display counter and the system logic, a feedback control method for controlling the unmanned aerial vehicle to fly in a swinging state of the suspended object is established, swinging of the suspended object is effectively restrained, adverse effects of swinging of the suspended object on the unmanned aerial vehicle to fly are reduced to the minimum, flying safety of the suspended object of the unmanned aerial vehicle is improved, and accurate throwing capability is facilitated.
The foregoing inventive subject matter and various further alternatives thereof may be freely combined to form a plurality of alternatives, all of which are employable and claimed herein; and the invention can be freely combined between the (non-conflicting choices) choices and between the choices and other choices. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
Drawings
FIG. 1 is a diagram of a hanger and sensor force analysis.
FIG. 2 is a schematic view of the attachment location of the hanger and the sensor.
FIG. 3 is a schematic diagram of deviation between the measured tilt angle of the sensor and the actual tilt angle of the suspended object.
Fig. 4 is a schematic view of a longitudinal hinge and transverse hinge arrangement.
Fig. 5 is a schematic diagram of unmanned aerial vehicle control hanging object swing elimination.
Detailed Description
The following non-limiting examples illustrate the invention.
In order to realize accurate sensing of the swing position of the suspended object, a scheme of installing an inclination sensor in a suspension system is adopted. The tilt sensor measures static gravity acceleration through a built-in gyroscope and an accelerometer and converts the static gravity acceleration into tilt change, so that the tilt angle and the pitching angle of the sensor output relative to the horizontal plane can be measured. The limitation of this measurement is that it is only suitable for measurement in static or slowly varying dynamic environments, and not in rapidly varying dynamic environments. The invention provides a correction method, which overcomes the problem and can obtain the real swinging position of the suspended object under the rapid change environment through the measurement of the inclination angle sensor.
Referring to FIG. 1, a hanging point is set asOHanging pointOFixedly connected with the unmanned aerial vehicle. The cable length isLSensor mounting position is from hanging pointOIs thatL'The sensor sensitive shaft swings along with the sling. Overload, overload 'For sensor overload acceleration, +.> Overload, overload Overload acceleration of the suspended object; /> Swinging movement 'For sensor swing acceleration, +.> Swinging movement The swinging acceleration of the hanging object is obtained. The motion analysis of the whole suspension system is built in a non-inertial coordinate system of unmanned plane motion, and the whole system has motion acceleration +.> System and method for controlling a system 。
The weight of the suspended object is far greater than that of the sling, and the sling is in a straightened state, so that the swinging displacement of each position on the sling relative to the balance position is linearly distributed along the length direction of the sling, and the swinging speed and swinging acceleration of each position on the sling relative to the balance position are also linearly distributed along the length direction of the sling. Namely:
（1）；
and in combination with the stress analysis, the method can obtain:
（2）；
the inclination angle sensor is actually an acceleration sensor applying the principle of inertia, and the essence of the inclination angle measurement is that the component of overload acceleration on the sensitive axis of the sensor is converted into an included angle between the overload acceleration and the sensitive axis of the sensor. When the sensor is installed at the position of the non-hanging pointL'Not equal to 0), the sensitive axis direction of the sensor and the overload acceleration direction) The included angle of (2) is not the inclination angle of the hanging object. Only when the sensor is installed at the hanging pointL'=0), the direction of the sensor sensitive axis changes along with the swing, and the sensor sensitive axis and the overload acceleration direction are%) The included angle is the inclination angle of the hanging object.
The measurement of the tilt angle may deviate from the measurement when the sensor is mounted at a non-hanging point position. The invention provides a sensor inclination angle correction method, wherein an inclination angle sensor arranged at any position of a hanging system can obtain an accurate inclination angle measurement value after correction.
The inclination sensor is installed at the hook (or hanger), and the installation schematic diagram is shown with reference to fig. 2. Swing acceleration, gravity acceleration, overload acceleration, system acceleration and sensor for measuring inclination angle Measuring True dip angle of suspended object> True sense The relationship between which is shown with reference to figure 3.
The relationship between the real inclination angle of the suspended object under the non-inertial reference system and the inclination angle measured by the sensor can be obtained by the small angle assumption and the linear relationship of the swing acceleration (see formula (1):
（3）；
in practical suspension systems, suspension oscillation is a combined lateral and longitudinal motion. A certain distance is reserved between the transverse hinge and the longitudinal hinge, and the pendulum length of the hung object in the longitudinal direction and the transverse direction is different; since the system acceleration has different longitudinal and lateral components, it is necessary to determine the tilt correction values of the longitudinal and lateral wobbles according to the tilt correction formula described above, as shown in formula (3).
Referring to FIG. 4 for example, the one-way hinge arrangement is shown with an inclination sensor mounted on the sling, the sensor swinging longitudinally and transversely with a swing length ofL x 'AndL y 'the swing length of the hanging object in the longitudinal and transverse swinging is respectivelyL x AndL y the system acceleration in the longitudinal direction and the transverse direction is X system And-> y system ；
Correction of the vertical and horizontal tilt angle measurement according to equation (3) is as follows:
（4）；
（5）；
wherein:α x true 、α y is true The real inclination angles of the inclination angle sensors in the longitudinal direction and the transverse direction are respectively,α x-measurement 、α y-measurement Respectively measuring the inclination angles measured by the inclination angle sensor in the longitudinal direction and the transverse direction,gravitational acceleration.
Since angle is differentiated over time to obtain angular velocity, the differentiation operator is linear, and the linear correction of angle is equally applicable to angular velocity, correction of measured angular velocity in both longitudinal and transverse directions:
（6）；
（7）；
wherein:ω x true 、ω y is true The true angular velocity of the inclination sensor in the longitudinal direction and the transverse direction are respectively,ω x-measurement 、ω y-measurement The angular velocity of the inclination sensor is measured longitudinally and transversely respectively, x system And-> y system The derivative of the system acceleration with respect to time in the longitudinal and transverse directions is given to the system.
Referring to fig. 5, an acceleration control amount is applied to the unmanned aerial vehicleAcceleration generated by hanging point following unmanned aerial vehicleThe method comprises the steps of obtaining a reverse relative acceleration of a hanging object, deriving the swinging energy of the hanging object from time to time, and obtaining the time change rate of the swinging energy of the hanging object as follows:
（8）；
wherein:Ein order to realize the swing energy of the suspended objects,tin order to be able to take time,min order to be used for hanging the object,gthe acceleration of the gravity is that,Lthe swinging length of the suspended object in the swinging direction;xfor the horizontal distance of the hanger from the equilibrium position,vin order to achieve the movement speed of the hanger relative to the unmanned aerial vehicle,and the acceleration feedback quantity of the unmanned aerial vehicle is obtained.
Correcting the original angular velocity data measured by the inclination angle sensor, and correspondingly obtaining the swinging velocity of the hanging object:
（9）；
（10）；
wherein:v x 、v y the swinging linear speeds of the hanging object in the longitudinal direction and the transverse direction are respectively.
And (3) obtaining an acceleration feedback quantity:
（11）；
（12）；
wherein:and->The feedback quantity of longitudinal and transverse acceleration of the unmanned aerial vehicle is respectively,K 1 、K 2 the longitudinal and transverse gain coefficients are respectively.
Respectively adding feedback quantity based on longitudinal and transverse swing acceleration in an original fly pipe system acceleration control target, and establishing a suspended object swing elimination control feedback logic;
according to the energy formula (8), the swing elimination control feedback logic realizes the attenuation of swing energy of the suspended object along with time and realizes the purpose of inhibiting the swing of the suspended object.
Example 1:
a hanging and swing eliminating control method of an unmanned aerial vehicle comprises the following steps.
And S01, installing an inclination angle sensor in the hanging system.
Step S02, inclination correction formulas (4) and (5) are applied to the original longitudinal and transverse inclination data measured by the inclination sensor.
Step S03, applying angular velocity correction formulas (6) and (7) to the original longitudinal and lateral angular velocity data measured by the inclination sensor.
Step S04, applying the swing speed calculation formulas (9) and (10) to the vertical and horizontal angular velocity correction values.
And S05, multiplying the longitudinal and transverse swing speed correction values by gain coefficients K1 and K2 which are larger than 0 according to formulas (11) and (12) respectively to obtain the longitudinal and transverse acceleration feedback quantity of the unmanned aerial vehicle.
And S06, superposing the longitudinal and transverse acceleration feedback amounts of the unmanned aerial vehicle on longitudinal and transverse acceleration control targets of the unmanned aerial vehicle, and performing acceleration control of the unmanned aerial vehicle.
And S07, according to an energy formula (8), the vibration energy of the suspended object is attenuated along with time, and the purpose of restraining the vibration of the suspended object is achieved.
The foregoing basic embodiments of the invention, as well as other embodiments of the invention, can be freely combined to form numerous embodiments, all of which are contemplated and claimed. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (2)

1. The unmanned aerial vehicle hanging and swing eliminating and controlling method is characterized by comprising the following steps:
step S01, installing an inclination sensor in a hanging system;
step S02, an inclination correction formula is applied to the original longitudinal and transverse inclination data measured by the inclination sensor;
step S03, applying an angular velocity correction formula to the original longitudinal and transverse angular velocity data measured by the inclination sensor;
step S04, applying a swinging speed calculation formula to the longitudinal and transverse angular speed correction value;
step S05, multiplying the longitudinal and transverse swing speed correction values by gain coefficients to obtain longitudinal and transverse acceleration feedback quantities of the unmanned aerial vehicle;
step S06, superposing the longitudinal and transverse acceleration feedback amounts of the unmanned aerial vehicle to longitudinal and transverse acceleration control targets of the unmanned aerial vehicle, and performing acceleration control of the unmanned aerial vehicle;
s07, according to an energy formula, the swinging energy of the suspended object is attenuated along with time, and the purpose of restraining the swinging of the suspended object is achieved;
in the step S01, the sling is provided with an inclination sensor, and the swing lengths of the sensor in the longitudinal direction and the transverse direction are respectivelyL x 'AndL y 'the swing length of the hanging object in the longitudinal and transverse swinging is respectivelyL x AndL y the system acceleration in the longitudinal direction and the transverse direction is X system And-> y system ，/> X system And-> y system The derivative of the system acceleration in the longitudinal direction and the transverse direction with respect to time is obtained;
in step S02, correction of inclination angles of longitudinal and lateral measurements is performed:
；
；
wherein:α x true 、α y is true The real inclination angles of the inclination angle sensors in the longitudinal direction and the transverse direction are respectively,α x-measurement 、α y-measurement Respectively measuring the inclination angles measured by the inclination angle sensor in the longitudinal direction and the transverse direction,gravitational acceleration;
in step S03, the measured longitudinal and lateral angular velocities are corrected:
；
；
wherein:ω x true 、ω y is true The true angular velocity of the inclination sensor in the longitudinal direction and the transverse direction are respectively,ω x-measurement 、ω y-measurement Measuring the angular velocity of the inclination sensor in the longitudinal direction and the transverse direction respectively;
in step S04, the swinging speed of the suspended object is obtained:
；
；
wherein:v x 、v y the swinging linear speeds of the hanging objects in the longitudinal direction and the transverse direction are respectively;
in step S06, in the original acceleration control target of the fly tube system, acceleration control feedback amounts based on longitudinal and transverse swing speeds are respectively increased, and a suspended object swing elimination control feedback logic is established;
in step S07, according to the energy formula:
；
wherein:Ein order to realize the swing energy of the suspended objects,tin order to be able to take time,min order to be used for hanging the object,gthe acceleration of the gravity is that,Lthe swinging length of the suspended object in the swinging direction;xfor the horizontal distance of the hanger from the equilibrium position,vin order to achieve the movement speed of the hanger relative to the unmanned aerial vehicle,the acceleration feedback quantity of the unmanned aerial vehicle; the swing elimination control feedback logic realizes the attenuation of the swing energy of the suspended object along with the time and the purpose of inhibiting the swing of the suspended object.
2. The unmanned aerial vehicle hanging and swing elimination and control method according to claim 1, wherein the method comprises the following steps: in step S05, an acceleration feedback amount is obtained:
；
；
wherein:and->The feedback quantity of longitudinal and transverse acceleration of the unmanned aerial vehicle is respectively,K 1 、K 2 the longitudinal and transverse gain coefficients are respectively.
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