CN117434846B - Anti-swing control method and control system for four-rotor unmanned aerial vehicle suspension system - Google Patents
Anti-swing control method and control system for four-rotor unmanned aerial vehicle suspension system Download PDFInfo
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Abstract
The invention provides an anti-swing control method and a control system of a four-rotor unmanned aerial vehicle hanging system, wherein the control method comprises the following steps of S1: establishing a dynamic model based on the coordinate transformation relation and the Lagrangian equation; s2: on the basis of a dynamic model, combining an adaptive frequency estimator and a harmonic expansion state observer to obtain an adaptive harmonic expansion state observer, and carrying out disturbance estimation by using the adaptive harmonic expansion state observer to obtain a disturbance estimation value; s3: the invention discloses a method for estimating disturbance of a four-rotor unmanned aerial vehicle, which comprises the steps of constructing a gesture controller by using a backstepping method, compensating a feedback correction signal of the gesture controller by using a disturbance estimation value to obtain a gesture composite control signal, and controlling a hanging system of the four-rotor unmanned aerial vehicle to perform anti-swing action by using the gesture composite control signal.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an anti-swing control method and system for a four-rotor unmanned aerial vehicle hanging system.
Background
The four-rotor unmanned aerial vehicle has the advantages of simple and reliable structure, sensitive action, strong operability, remarkable advantages in the aspects of low-speed hovering, vertical take-off and landing, fixed-point delivery and the like. Therefore, in recent years, quadrotors have been widely used in military and civil fields, such as: aerial photography, search and rescue, material delivery and the like. When four rotor unmanned aerial vehicle carries out the goods transportation, the goods is generally hung in four rotor unmanned aerial vehicle below through the rope, and goods, rope and four rotor unmanned aerial vehicle constitute four rotor unmanned aerial vehicle suspension jointly. The method for hanging the four-rotor unmanned aerial vehicle can reduce the inertia of the body of the four-rotor unmanned aerial vehicle, thereby ensuring the rapidity of the posture change of the four-rotor unmanned aerial vehicle. Therefore, unmanned aerial vehicle suspension has obvious advantages in material transportation and material delivery, and in recent years, research on four-rotor suspension systems is receiving extensive attention from researchers at home and abroad.
In practical application, the hanging weight can swing under the influence of external disturbance or unmanned aerial vehicle acceleration, and the swing of hanging weight can influence four rotor unmanned aerial vehicle suspension system's stability. In order to improve the stability of the system, there has been a great deal of attention to suppressing or eliminating the swinging of the hanging weight. In the transportation of dangerous goods such as fragile, inflammable and explosive, the anti-swing control of hanging heavy objects is particularly important.
To address this problem, the prior art proposes an energy-based nonlinear controller that aims to track the position of a quadrotor, reducing the swing angle of the suspended weight. The disturbance and uncertainty estimation and attenuation strategy based on the harmonic expansion state observer is also provided, and the anti-swing control of the suspended load is realized by estimating and compensating the disturbance of the load swing to the body.
However, most of the above-mentioned researches have focused on the case where the cable length is constant and known, and neglecting the case where the rope length is not available or is not available accurately in the actual work task. In an actual operation task, in order to ensure reliable transportation of the quadrotor unmanned aerial vehicle under various conditions, corresponding changes are required to be made to the length of the cable. However, during a change in cable length, multiple measurements are required to obtain accurate values of the cable length and adjustments of the controller parameters, which can take a significant amount of time or cannot be done on the engineering site. In addition, the process of determining the center of gravity of the quadrotor unmanned aerial vehicle and the suspended load is a time-consuming and labor-consuming task, and the difficulty of obtaining the accurate length of the cable is increased. Because the cable is connected to the load as a quadrotor drone, changes in cable length will directly affect the dynamics of the load and the motion control of the quadrotor.
Therefore, it is highly desirable to reduce the reliance on cable length information in the study of four-rotor unmanned aerial vehicle suspension systems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an anti-swing control method and a control system of a four-rotor unmanned aerial vehicle hanging system, wherein the anti-swing control method and the control system are composed of a gesture controller and an adaptive harmonic expansion state observer, and an uncertainty estimation and attenuation control strategy are adopted, wherein the gesture controller is used for obtaining a preliminary control signal according to the relation between a reference gesture and the actual gesture of the four-rotor unmanned aerial vehicle, the adaptive harmonic expansion state observer is used for estimating disturbance generated by hanging load swing and external disturbance on the unmanned aerial vehicle under the condition that the cable length is unknown, and then the estimated disturbance is compensated in the preliminary control signal to obtain a final control signal, so that the unmanned aerial vehicle can stably fly.
The invention provides an anti-swing control method of a four-rotor unmanned aerial vehicle hanging system, which comprises the following steps:
s1: establishing a dynamic model based on the coordinate transformation relation and the Lagrangian equation;
s2: on the basis of a dynamic model, combining an adaptive frequency estimator and a harmonic expansion state observer to obtain an adaptive harmonic expansion state observer, and carrying out disturbance estimation by using the adaptive harmonic expansion state observer to obtain a disturbance estimation value;
s3: and constructing a gesture controller by using a back-stepping method, wherein the disturbance estimated value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action by using the gesture composite control signal.
Preferably, the step S1 includes:
s101: constructing a basic dynamics model of the four-rotor unmanned aerial vehicle hanging system based on the coordinate transformation relation and the Lagrange equation;
s102: and simplifying the basic dynamics model according to the assumed conditions to obtain a final dynamics model.
Preferably, the step S101 includes:
s101-1: defining an inertial coordinate systemCoordinates of the bodyAnd the desired coordinates->Four rotor unmanned aerial vehicle is in inertial coordinate system E I Position +.>The attitude angle is +.>The pose of a quadrotor unmanned aircraft is denoted by quaternion +.>The desired attitude of the quadrotor unmanned is +.>In the body coordinate system E B In which the angular velocity of the quadrotor unmanned aerial vehicle is +.>The desired angular velocity of the quadrotor unmanned is +.>Posture angle->And body angular velocity->The relation between the two is:
；
wherein,；
s101-2: defining the connection point of the cable and the machine body in the machine body coordinate system E B The positions in (a) areThe hanging load is in an inertial coordinate system>The position of (a) is->Wherein->And->The relation of (2) is:
；
wherein,for swing angle->Is->The angle between the plane and the plane of the pivot angle, +.>For the length of the cable it is,
；
s101-3: lagrange equation for constructing four-rotor unmanned aerial vehicle hanging systemLThe method specifically comprises the following steps:
；
wherein,seven degrees of freedom of the four-rotor unmanned aerial vehicle hanging system,total kinetic energy for a four-rotor unmanned aerial vehicle suspension system,/-for>Representing the mass of the suspended load,representing the mass of the unmanned aerial vehicle, < > and->Is the rotational kinetic energy of a hanging system of the quadrotor unmanned aerial vehicle, wherein ∈>Is a diagonal inertia matrix>The total potential energy of the four-rotor unmanned aerial vehicle hanging system is the total lifting force +.>And control signalIs a non-conservative force, and thus, the Lagrangian equation L is expressed as:
；
wherein,representing non-conservative forces, S101-4: the dynamic equation of the four-rotor unmanned aerial vehicle hanging system is obtained through deduction, and is expressed as:
；
wherein,representation->Moment of control signal in degree of freedom, +.>Representation->The moment of the control signal in the degree of freedom,representation->Moment of control signal in degree of freedom, +.>Representation->Lift force in degree of freedom, +.>Representation->Lift force in degree of freedom, +.>Representation->Lift in degrees of freedom.
Preferably, the step S102 includes:
s102-1: assuming uniform flight of the quadrotor unmanned aerial vehicle, i.eIn the actual task->Thus, it isThe dynamics equation of the four-rotor unmanned aerial vehicle hanging system is simplified into:
；
wherein,，/>；
s102-2: if the swing angle of the hanging loadWhen the small angle approximation condition is satisfied, the +.>And->The dynamics equation of the four-rotor unmanned aerial vehicle hanging system is further simplified into:
；
calculating to obtain the swing angleThe method comprises the following steps:
；
wherein A is 0 Andrepresenting the unknown amplitude and phase angle to the initial state,
；
wherein,。
preferably, the step S2 includes:
s201: an equation for the harmonic extended state observer is established and expressed as:
；
the simplification is as follows:
；
wherein,representing the state of the harmonic extended state observer, +.>Represents->Estimated amount of ∈10->Representing the gain of the harmonic extended state observer;
s202: an adaptive frequency estimator is built and expressed as:
；
wherein,，/>，/>is->Is used for the estimation of the (c),，/>parameter->The estimated values of (2) are:
；
wherein,>0. is an arbitrary real number, +.>Is->2i+1-th quantity of (c), the frequency of the interference is obtained as:
or->；
S203: and connecting the adaptive frequency estimator and the harmonic state observer in series to obtain the adaptive harmonic state observer.
Preferably, the step S3 includes:
s301: defining a first lyapunov function as:
；
and deriving to obtain a virtual control law:
；
s302: defining attitude angular velocity errorAnd virtual control input +.>The error between them is:
；
s303: defining a second lisapunov function as:
；
and deriving to obtain control signals as follows:
。
an anti-swing control system of a four-rotor unmanned aerial vehicle comprises
The dynamic model construction module is used for building a dynamic model based on the coordinate transformation relation and the Lagrangian equation;
the disturbance estimation module is used for obtaining an adaptive harmonic expansion state observer by combining the adaptive frequency estimator and the harmonic expansion state observer on the basis of the dynamic model, and carrying out disturbance estimation by utilizing the adaptive harmonic expansion state observer to obtain a disturbance estimation value;
and the control module is used for constructing a gesture controller by using a back-stepping method, wherein the disturbance estimation value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and the gesture composite control signal is used for controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action.
Compared with the related art, the anti-swing control method and the control system for the four-rotor unmanned aerial vehicle hanging system provided by the invention have the following beneficial effects:
according to the invention, a disturbance mathematical model is obtained through small-angle approximation, a proper self-adaptive frequency estimator is designed according to the disturbance mathematical model, the self-adaptive frequency estimator is used for carrying out self-adaptive estimation on the disturbance frequency, meanwhile, a harmonic extended state observer is designed and combined with the self-adaptive frequency estimator to form the self-adaptive harmonic extended state observer so as to accurately estimate the disturbance, and compared with the traditional extended state observer, the self-adaptive harmonic extended state observer is more suitable for estimating the disturbance of a hanging load on an unmanned plane.
Drawings
FIG. 1 is a schematic flow chart of an anti-sway control method for a four-rotor unmanned aerial vehicle suspension system of the present invention;
fig. 2 is a schematic diagram of a position relationship structure of a hanging system of a quad-rotor unmanned helicopter of the present invention;
FIG. 3 is a control schematic block diagram of an anti-sway control system for a four-rotor unmanned aerial vehicle suspension system of the present invention;
fig. 4 is a comparison diagram of roll angles of a four-rotor unmanned aerial vehicle in different control modes according to a third embodiment of the present invention;
fig. 5 is a comparison diagram of pitch angles of a four-rotor unmanned aerial vehicle in different control modes according to a third embodiment of the present invention;
fig. 6 is a comparison diagram of a yaw angle of a four-rotor unmanned aerial vehicle in a different control mode according to a third embodiment of the present invention;
fig. 7 is a comparison chart of observation errors of a four-rotor unmanned aerial vehicle in two control modes of a self-adaptive harmonic extended state observer and an extended state observer according to a third embodiment of the present invention;
fig. 8 is a frequency diagram of the output of the adaptive frequency estimator according to the third embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and embodiments.
Example 1
The invention provides an anti-swing control method of a four-rotor unmanned aerial vehicle hanging system based on a self-adaptive harmonic expansion state observer, which is used for effectively inhibiting the swing of a load, and is shown by referring to figures 1 to 3, and comprises the following steps:
s1: and establishing a dynamic model based on the coordinate transformation relation and the Lagrangian equation.
Specifically, step S1 includes the steps of:
step S101: and constructing a basic dynamics model of the four-rotor unmanned aerial vehicle hanging system based on the coordinate transformation relation and the Lagrange equation.
In this embodiment, step S101 specifically operates as:
first, define an inertial coordinate systemCoordinate system of machine bodyAnd the desired coordinate system->To describe the motion characteristics of the four-rotor unmanned aerial vehicle suspension system. Four rotor unmanned aerial vehicle in inertial coordinate system +.>The position of (a) is->The attitude angle is +.>. The pose of a quadrotor unmanned aircraft is denoted by quaternion +.>. In the machine body coordinate system E B In which the angular velocity of the quadrotor unmanned aerial vehicle is +.>。
Attitude angleAnd body angular velocity->The relation between the two is:
；
wherein,。
secondly, defining the connection point of the cable and the machine body in a machine body coordinate system E B The positions in (a) areIn inertial coordinate system of suspended load +.>The position of (a) is->It is in inertial coordinate system +.>Position +.>The relation of (2) is:
；
wherein,for swing angle->Is->The included angle between the plane and the plane of the swing angle,/>for the length of the cable it is,。
the four-rotor unmanned aerial vehicle suspension system contains seven degrees of freedom and is defined as:
；
the total kinetic energy of the four-rotor unmanned aerial vehicle suspension system can be expressed as:
；
the rotational kinetic energy of the four-rotor unmanned aerial vehicle suspension system can be expressed as:
；
wherein,is a diagonal inertia matrix.
The total potential energy of the four-rotor unmanned aerial vehicle suspension system can be expressed as:
；
the Lagrangian equation for a four-rotor unmanned aerial vehicle suspension system can be expressed as:
；
due to the total liftAnd control signal->Is a non-conservative force, so the Euler-Lagrangian equation for a system can be expressed as:
；
wherein,representing a non-conservative force.
Finally, the kinetic equation for a four rotor unmanned aerial vehicle suspension system can be derived as:
；
step S102: and simplifying the basic dynamics model according to the assumed conditions to obtain a final dynamics model.
In this embodiment, step S102 specifically operates as:
assuming uniform flight of the quadrotor unmanned aerial vehicle, i.eIn the actual task->Thus->Therefore, the attitude kinetic equation of the four-rotor unmanned aerial vehicle suspension system can be simplified into:
；
wherein,，/>。
when the swing angle of the hanging loadWhen the small angle approximation condition is satisfied, +.>And->The above equation can be further simplified as:
；
can calculate the swing angleThe method comprises the following steps:
；
wherein,A 0 andrepresenting the unknown amplitude and phase angle associated with the initial state.
By calculation we can finally get a dynamic model of the disturbance:
；
wherein,。
s2: on the basis of a dynamic model, the self-adaptive frequency estimator and the harmonic expansion state observer are combined to obtain a self-adaptive harmonic expansion state observer, and the self-adaptive harmonic expansion state observer is utilized to carry out disturbance estimation to obtain a disturbance estimation value.
In this embodiment, step S2 specifically includes:
since the disturbance can be expressed as:
；
wherein,。
the perturbation is expressed in the form of a state equation:
；
wherein,，/>，/>，is the state of the system and represents the remainder of the disturbance.
Due to the fact thatThe rotational dynamics equation of direction is: />
；
Definition of the definitionFor a new state vector, the system can be expressed as:
；
based on the above equation, the harmonic expansion state observer can be expressed as:
；
wherein,representing the shape of a harmonic extended state observerStatus of->Represents->Estimated amount of ∈10->Representing the gain of the harmonic extended state observer.
In order to achieve an estimation of the interference frequency, an adaptive frequency estimator is designed.
The interference signal can be expressed as:
；
the transfer function is as follows:
；
wherein,。
selecting a Hurwitz polynomial as:
；
transforming y(s):
；
when u(s) is 0, the above equation is expressed as a state space form:
；/>
wherein,，/>，
。
is->Estimated value of ∈10->Is->Estimation of (a) value>Expressed as:
；
the adaptive frequency estimator may be defined as:
；
parameters (parameters)The estimated values of (2) are:
；
wherein,>0. is an arbitrary real number, +.>Is->2i+1-th quantity of (c).
Thus, the frequencies of the interference are:
or->；
And connecting the adaptive frequency estimator in series with the harmonic expansion state observer to obtain the adaptive harmonic expansion state observer, so as to realize interference estimation under the unknown rope length.
S3: and constructing a gesture controller by using a back-stepping method, wherein the disturbance estimated value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action by using the gesture composite control signal.
In this embodiment, step S3 specifically includes:
and adopting a backstepping method to design the gesture controller.
Firstly, a virtual control law is designed to ensure the attitude errorConverging to zero;
the lyapunov function is selected as:
；
the virtual control law is obtained by calculating the derivative and ensuring that the derivative is always negative:
；
then, the control signal u is designed to ensure the attitude angular speed errorCan accurately track virtual control input +.>。/>
Defining attitude angular velocity errorAnd virtual control input +.>The error between them is:
；
in order to ensure the stability of the four-rotor unmanned aerial vehicle suspension system, a Liapunov function is selected as follows:
；
by calculating its derivative and ensuring that it is always negative, the control signal can be obtained as:
；
the invention provides an anti-swing control method of a four-rotor unmanned aerial vehicle hanging system, which comprises the following working principles: according to the invention, a disturbance mathematical model is obtained through small-angle approximation, a proper self-adaptive frequency estimator is designed according to the disturbance mathematical model, the self-adaptive frequency estimator is used for carrying out self-adaptive estimation on the disturbance frequency, meanwhile, a harmonic extended state observer is designed and combined with the self-adaptive frequency estimator to form a self-adaptive harmonic extended state observer for accurately estimating the disturbance, and compared with a traditional extended state observer, the self-adaptive harmonic extended state observer is more suitable for estimating the disturbance of a hanging load on an unmanned plane.
Example two
An anti-swing control system of a four-rotor unmanned aerial vehicle comprises
The dynamic model construction module is used for building a dynamic model based on the coordinate transformation relation and the Lagrangian equation;
the disturbance estimation module is used for obtaining an adaptive harmonic expansion state observer by combining the adaptive frequency estimator and the harmonic expansion state observer on the basis of the dynamic model, and carrying out disturbance estimation by utilizing the adaptive harmonic expansion state observer to obtain a disturbance estimation value;
and the control module is used for constructing a gesture controller by using a back-stepping method, wherein the disturbance estimation value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and the gesture composite control signal is used for controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action.
Example III
Simulation analysis is carried out by using matlab, the disturbance rejection capability of the quadrotor unmanned aerial vehicle under a certain fixed attitude is simulated in simulation, and the expected attitude angle of the quadrotor unmanned aerial vehicle is set as. Meanwhile, in order to verify the effectiveness of the control algorithm provided by the application, the algorithm is compared with a traditional control method based on an extended state observer, and figures 3, 4 and 5 are respectively the stability of the roll angle, the pitch angle and the yaw angle of the four-rotor unmanned aerial vehicle under different control algorithms (attitude control based on a harmonic extended state observer, attitude control based on an extended state observer and attitude control based on a back-stepping method). Compared with the traditional extended state observer, the control algorithm provided by the application has better anti-interference capability. Fig. 6 is a comparison of the observation errors of the adaptive harmonic extended state observer and the extended state observer, and it can be found that the observation errors of the adaptive harmonic extended state observer are greatly reduced. Fig. 7 shows an estimated value of the adaptive frequency estimator, which is dithered due to the presence of noise in the disturbance, but has a smaller influence on the actual control effect.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flowchart and/or block of the flowchart illustrations and/or block diagrams, and combinations of flowcharts and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by hardware associated with a program stored in a computer-readable storage medium, including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (CD-ROM), or any other medium capable of being used for computer-readable storage or carrying data.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
Claims (3)
1. An anti-sway control method for a four-rotor unmanned aerial vehicle suspension system, the control method comprising:
s1: establishing a dynamic model based on the coordinate transformation relation and the Lagrangian equation;
wherein S1 comprises:
s101: constructing a basic dynamics model of the four-rotor unmanned aerial vehicle hanging system based on the coordinate transformation relation and the Lagrange equation;
wherein S101 includes:
s101-1: defining an inertial coordinate System E I :{o I ,x I ,y I ,z I Frame coordinate system E B :{o B ,x B ,y B ,z B Sum of desired coordinate system E D :{o D ,x D ,y D ,z D Four rotor unmanned aerial vehicle in inertial coordinate system E I The positions in (a) areThe attitude angle is +.>The attitude of the quadrotor unmanned aerial vehicle is expressed as a quaternionIn the machine body coordinate system E B The angular velocity of the four-rotor unmanned aerial vehicle is thatThe relation between the attitude angle theta and the body angular velocity omega is as follows:
wherein,
s101-2: defining the connection point of the cable and the machine body in the machine body coordinate system E B The position in (1) is H= [ 0H ]] T The suspended load is in an inertial coordinate system E I The positions in (a) areWherein Q is l And Q is equal to q The relation of (2) is:
wherein gamma is the swing angle and beta is x I o I z I The included angle between the plane and the swing angle plane, i is the length of the cable,
s101-3: the Lagrange equation L of the four-rotor unmanned aerial vehicle hanging system is constructed, and specifically comprises the following steps:
wherein η= [ x ] q y q z q φ θ ψ γ] T Seven degrees of freedom of the four-rotor unmanned aerial vehicle hanging system,for the total kinetic energy of four rotor unmanned aerial vehicle suspension system, m l Representing the mass of the suspended load, m q Representing the quality of the unmanned aerial vehicle,
for four-rotor unmanned aerial vehicle suspension systemsRotational kinetic energy, where j=diag (J x ,J y ,J z ) For diagonal inertia matrix, E m ＝-(m q z q +m l z l ) g, the total potential energy of the four-rotor unmanned aerial vehicle hanging system,
due to the total liftAnd control signal u= [ tau ] φ τ θ τ ψ ] T Is a non-conservative force, and thus, the Lagrangian equation L is expressed as:
wherein,represents a non-conservative force of force and,
s101-4: the dynamic equation of the four-rotor unmanned aerial vehicle hanging system is obtained through deduction, and is expressed as:
wherein τ θ Representing the torque of the control signal in the theta degree of freedom,representation->Moment of control signal in degree of freedom, +.>Representation->Moment of control signal in degree of freedom, F x Representing lift in x degrees of freedom, F y Representing lift in y degrees of freedom, F z Representing lift in z degrees of freedom;
s102: simplifying the basic dynamics model according to the assumed conditions to obtain a final dynamics model;
wherein S102 includes:
s102-1: assuming uniform flight of the quadrotor unmanned aerial vehicle, i.eIn the actual task, h < l, so h/l is approximately equal to 0, and the dynamics equation of the four-rotor unmanned aerial vehicle suspension system is simplified into:
wherein,
s102-2: if the swing angle gamma of the hanging load is smaller, sin gamma (gamma) and cos gamma (gamma) are obtained, and the kinetic equation of the four-rotor unmanned aerial vehicle hanging system is further simplified into:
the calculated swing angle gamma is:
wherein A is 0 And x 0 Representing unknown amplitude and phase angle with the initial state management,
the kinetic equation of the disturbance is finally obtained as follows:
wherein,
s2: on the basis of a dynamic model, combining an adaptive frequency estimator and a harmonic expansion state observer to obtain an adaptive harmonic expansion state observer, and carrying out disturbance estimation by using the adaptive harmonic expansion state observer to obtain a disturbance estimation value;
wherein S2 includes:
s201: an equation for the harmonic extended state observer is established and expressed as:
the simplification is as follows:
wherein,representing the state of the harmonic extended state observer, +.>Represents y i Estimated amount of F i ＝[f 0 f 1 f 2 f 3 f 4 f 5 f 6 ] T Representing the gain of the harmonic extended state observer;
s202: an adaptive frequency estimator is built and expressed as:
wherein, is an estimated value of M, m= [ lambda ] 0 -θ 0 λ 1 λ 2 -θ 1 λ 3 ]，/>
Parameter θ i The estimated values of (2) are:
wherein, kappa>0 is an arbitrary real number and is,is->In the 2i+1 th amount of (c),
the frequencies that get interference are:
or->
S203: connecting the adaptive frequency estimator and the harmonic state observer in series to obtain an adaptive harmonic state observer;
s3: and constructing a gesture controller by using a back-stepping method, wherein the disturbance estimated value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action by using the gesture composite control signal.
2. The anti-sway control method of a four-rotor unmanned aerial vehicle suspension system of claim 1, wherein step S3 comprises:
s301: defining a first lyapunov function as:
and deriving to obtain a virtual control law:
Ω ed ＝-T 1 q ve
s302: defining an angular velocity error Ω e And a virtual control input Ω ed The error between them is:
s303: defining a second lisapunov function as:
and deriving to obtain control signals as follows:
3. a four-rotor unmanned aerial vehicle anti-sway control system, applied to the anti-sway control method of the four-rotor unmanned aerial vehicle suspension system according to any one of claims 1 to 2, comprising:
the dynamic model construction module is used for building a dynamic model based on the coordinate transformation relation and the Lagrangian equation;
the disturbance estimation module is used for obtaining an adaptive harmonic expansion state observer by combining the adaptive frequency estimator and the harmonic expansion state observer on the basis of the dynamic model, and carrying out disturbance estimation by utilizing the adaptive harmonic expansion state observer to obtain a disturbance estimation value;
and the control module is used for constructing a gesture controller by using a back-stepping method, wherein the disturbance estimation value is used for compensating a feedback correction signal of the gesture controller to obtain a gesture composite control signal, and the gesture composite control signal is used for controlling the four-rotor unmanned aerial vehicle hanging system to perform anti-swing action.
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