CN117452966A - Unmanned aerial vehicle force collaborative hanging and carrying method based on single-axis tension sensor - Google Patents
Unmanned aerial vehicle force collaborative hanging and carrying method based on single-axis tension sensor Download PDFInfo
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Abstract
The invention discloses a method for carrying unmanned aerial vehicle force collaborative hanging based on a single-axis tension sensor. The method comprises the following steps: firstly, a dynamics model of multi-unmanned aerial vehicle suspension load is established through stress analysis, secondly, a single-shaft tension sensor is installed on each rope, then a vertical rope force observer is designed, rope force is estimated and projected in the vertical direction, finally, a force cooperative control algorithm is designed, the heights of the unmanned aerial vehicles are adjusted in the vertical direction, the rope force borne by the multi-unmanned aerial vehicle is kept consistent, and the effect of force average distribution is achieved. The invention ensures that a plurality of unmanned aerial vehicles can averagely share the gravity of the load, prolongs the endurance time of a single carrying task, and can be used for special operation tasks such as air carrying, air load posture adjustment and the like.
Description
Technical Field
The invention belongs to the field of special operation of flying robots, and particularly relates to a single-shaft tension sensor-based unmanned aerial vehicle force collaborative suspension carrying method, which is suitable for a clustered unmanned aerial vehicle system for executing collaborative operation tasks such as air carrying, air load posture adjustment and the like.
Background
Along with the continuous acceleration of urban transformation, the urban surface space is difficult to meet the development needs of cities, so that the full development and utilization of the urban overhead space are particularly critical. As a key carrier for aerial work and transportation, unmanned aerial vehicles are increasingly used in the field of load handling.
Traditionally, the air load transportation task is completed by a single-frame rotary-wing unmanned aerial vehicle hanging load. However, the single suspension point has limited load control capability, and for long or heavy loads, if a single unmanned aerial vehicle is used for carrying, high requirements are put on the area of a propeller blade and the size of a rotor wing, so that the transportation cost is greatly increased, and the difficult problem of mass center deviation of the load is difficult to deal with. In conclusion, the single unmanned aerial vehicle has limited air transportation load capacity and high cost, and is difficult to meet the requirement of carrying load in the air in an efficient and economical manner.
Aiming at the bottleneck problems of extremely limited handling capacity, low carrying capacity and the like faced by the single unmanned aerial vehicle carrying, the use of a plurality of unmanned aerial vehicles for carrying loads in a coordinated manner has become a new trend in the field of air carrying, and the single unmanned aerial vehicle carrying device has obvious advantages in the aspects of carrying capacity, transportation cost, task redundancy and the like. In the process of carrying loads cooperatively by unmanned aerial vehicles, system dynamics presents a complex coupling structure, and the lift uncertainties of all unmanned aerial vehicles are inconsistent, which provides greater challenges for cooperative control of the unmanned aerial vehicles. In order to balance the loads of a plurality of unmanned aerial vehicles in the cooperative conveying task, the unmanned aerial vehicles have the capability of independently adjusting the respective loads, so that the endurance time of single cooperative conveying of the unmanned aerial vehicles is prolonged, and the problem of influence of the complex dynamic structure and the lifting force uncertainty on the balanced loads of the unmanned aerial vehicles in the design process of the control algorithm of the unmanned aerial vehicles is required to be solved.
The chinese patent application CN202110000112.7 proposes a load tracking control method for coordinated transportation of multiple unmanned aerial vehicles, but there is a problem: the load positioning sensor is required to be introduced to determine the position of the load, so that the cost is high; the control method for the cooperative flying and lifting of the multiple unmanned aerial vehicles is provided in Chinese patent application CN202210076996.9 and Chinese patent application CN202110799601.3, but two problems exist: (1) The influence of the lift uncertainty of the unmanned aerial vehicle in the transportation process is not considered; (2) In the method, the unmanned aerial vehicle is difficult to autonomously sense and adjust the load of the unmanned aerial vehicle.
Therefore, the method does not consider the problem of load average distribution of the unmanned aerial vehicle under the condition of uncertainty of lift force, so as to complete the high-difficulty air cooperative transport task.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an unmanned aerial vehicle force cooperative hanging and conveying method based on a single-axis tension sensor for an unmanned aerial vehicle cooperative conveying system. The method can adjust the load of the multi-unmanned aerial vehicle in the air for cooperative operation, and prolongs the duration of single transportation.
In order to achieve the above purpose, the invention adopts the following technical scheme:
firstly, establishing a dynamics model of suspension load of a plurality of unmanned aerial vehicles;
secondly, installing a single-shaft tension sensor on the rope;
thirdly, designing a vertical rope force observer based on the model in the first step;
and fourthly, designing a force cooperative control algorithm according to the vertical rope force estimated in the third step.
Compared with the prior art, the invention has the beneficial effects that:
the invention is mainly oriented to an unmanned plane cooperative transportation system. Compared with the traditional single-frame unmanned aerial vehicle carrying mode, the multi-unmanned aerial vehicle carrying mode has the advantages of being stronger in load capacity and higher in task redundancy, but the perception and the adjustment capacity of the unmanned aerial vehicle on the load can be influenced by the uncertainty of the lifting force. By installing the single-shaft tension sensor and designing the corresponding vertical rope force observer based on the model, the invention can obviously improve the capacity of the unmanned aerial vehicle for sensing the self load under the influence of the uncertainty of the lifting force. By designing the force cooperative control algorithm, the invention solves the problem that the rope force is difficult to adjust in the prior method, realizes the average distribution of multiple unmanned aerial vehicles to the load, and prolongs the endurance time of single carrying tasks.
Drawings
Fig. 1 is a flow chart of a method for carrying unmanned aerial vehicle force collaborative suspension based on a single-axis tension sensor.
Fig. 2 is a schematic diagram of a structure of the unmanned aerial vehicle force cooperative carrying system designed by the invention.
Detailed Description
A general class of unmanned aerial vehicle co-handling systems is taken as an example to illustrate the specific implementation of the system and method.
As shown in fig. 1, taking the number of unmanned aerial vehicles n=2 as an example, the method for carrying unmanned aerial vehicles by force cooperative hanging based on a single-axis tension sensor of the present invention comprises the following specific implementation steps:
step 1, establishing a multi-unmanned aerial vehicle suspension belt dynamic model:
based on Newton Euler method, the i-th unmanned aerial vehicle with suspended load is modeled by stress analysis as follows:
wherein p is i Representing the position of the ith unmanned aerial vehicle, v i Indicating the speed of the ith unmanned aerial vehicle,representing the first derivative of (-) with respect to time, g represents the gravitational acceleration, (-)>Is the Z axis of an inertial coordinate system, f i Representing unknown lift force of ith unmanned aerial vehicle, R i Is the gesture rotation matrix of the ith unmanned aerial vehicle, m i Is the quality of the ith unmanned aerial vehicle, T i Represents rope force, q, received by the ith unmanned aerial vehicle i The direction of rope force received by the ith unmanned aerial vehicle is expressed by a unit vector.
Step 2, installing a single-shaft tension sensor:
the two ropes are respectively provided with a single-shaft tension sensor for measuring the tension on the ropes in real timeValue T 1 And T 2 Inputting the two ropes into an autopilot of the unmanned aerial vehicle, and initializing the pulling force directions of the two ropes to beI.e., pointing in the Z-axis forward direction in the inertial frame.
Step 3, designing a vertical rope force observer based on the multi-unmanned aerial vehicle suspension belt dynamic model in the step 1, wherein the method comprises the following steps:
step 3.1, according to the multi-unmanned aerial vehicle suspension belt load dynamic model established in the step 1, the tension T of the ith rope measured by the sensor in the step 2 i Estimating the lift of the ith unmanned aerial vehicle
In the i-th unmanned aerial vehicle accelerationCan be measured by an accelerometer of the unmanned aerial vehicle autopilot.
Step 3.2, according to the estimated lift force of the ith unmanned aerial vehicle in step 3.1And (2) estimating a tension vector of an ith rope according to the multi-unmanned aerial vehicle suspension belt load dynamic model established in the step (1)>
Step 3.3, the tension vector of the ith rope obtained in the step 3.2Projection in the vertical direction can calculate rope force born by the ith unmanned aerial vehicle in the vertical direction +.>
In the method, in the process of the invention,is a unit vector.
Step 4. Rope force born in the vertical direction estimated in step 3Designing a force cooperative control algorithm:
rope force born by ith unmanned aerial vehicle in vertical direction based on step 3And a leader-follower framework design force cooperative control algorithm is selected, so that each unmanned aerial vehicle bears the same load weight in cooperative transportation.
The height controller output of the leader (i=1) is designed to be:
wherein p is 1d,z Representing the desired altitude of the leader drone, p 1,z Representing the actual altitude of the leader drone,and->Respectively, the (-) are expressed in relation to timeFirst and second derivatives, k p And k v Representing the control gain of the leader unmanned aerial vehicle, affecting the steady-state accuracy and rapidity of the leader unmanned aerial vehicle height tracking dynamics, u 1,z Representing control inputs of the leader drone.
The height controller output of follower (i=2) is designed to be:
wherein lambda is 2 Representing the weight of the force adjustment, p 2,z Representing the actual altitude of the follower unmanned aerial vehicle, u 2,z Representing the control input of the follower drone. The height controllers of the leader and the follower are output as control instructions and input to the autopilot of the unmanned aerial vehicle, and the autopilot is used for adjusting the height of the unmanned aerial vehicle.
As shown in FIG. 2, p i (i=1, …, n) denotes the position of the ith unmanned aerial vehicle, q i (i=1, …, n) indicates the direction of the i-th rope, n is the number of unmanned aerial vehicles, and the rope connects the unmanned aerial vehicles, the uniaxial tension sensor and the load in order.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (5)
1. The unmanned aerial vehicle force collaborative hanging and carrying method based on the single-axis tension sensor is characterized by comprising the following steps of:
firstly, establishing a multi-unmanned aerial vehicle suspension belt dynamic model;
secondly, installing a single-shaft tension sensor on the rope;
thirdly, designing a vertical rope force observer based on the multi-unmanned aerial vehicle suspension belt dynamic model in the first step, and estimating rope force born in the vertical direction;
and fourthly, designing a force cooperative control algorithm according to the rope force born in the vertical direction estimated in the third step.
2. The method for collaborative suspension handling based on a single-axis tension sensor according to claim 1, wherein the first step comprises:
based on Newton Euler method, the i-th unmanned aerial vehicle with suspended load is modeled by stress analysis as follows:
wherein p is i Representing the position of the ith unmanned aerial vehicle, v i Indicating the speed of the ith unmanned aerial vehicle,representing the first derivative of (-) with respect to time, g represents the gravitational acceleration, (-)>Is the Z axis of an inertial coordinate system, vertically downward, f i Representing unknown lift force of ith unmanned aerial vehicle, R i Is the gesture rotation matrix of the ith unmanned aerial vehicle, m i Is the quality of the ith unmanned aerial vehicle, T i Represents the rope force received by the ith unmanned aerial vehicle, q i The direction of rope force received by the ith unmanned aerial vehicle is expressed by a unit vector, and n is the number of unmanned aerial vehicles participating in carrying.
3. The method for collaborative suspension handling based on a single-axis tension sensor according to claim 1, wherein the second step comprises:
fixing a single-shaft tension sensor on the ith rope to measure the tension value T i Transmitting to the unmanned aerial vehicle autopilot for subsequent estimation of rope force borne in the vertical direction, and then initializing the tension direction of the ith rope to beI.e., pointing in the Z-axis forward direction in the inertial frame.
4. The unmanned aerial vehicle force cooperative hanging and carrying method based on the single-axis tension sensor according to claim 1, wherein the third step comprises:
step 3.1, according to the multi-unmanned aerial vehicle suspension belt load dynamic model established in the first step and the tension T of the ith rope measured by the sensor in the second step i Estimating the lift of the ith unmanned aerial vehicle
In the i-th unmanned aerial vehicle accelerationCan be measured by an accelerometer of an autopilot of the unmanned aerial vehicle;
step 3.2, according to the lift force of the ith unmanned aerial vehicle estimated in the step 3.1Estimating the tension vector of the ith rope by combining the multi-unmanned aerial vehicle suspension belt carrying dynamic model established in the first step>
Step 3.3, the tension vector of the ith rope obtained in the step 3.2Projection in vertical direction, calculateRope force born by the ith unmanned aerial vehicle in vertical direction +.>
In the method, in the process of the invention,is a unit vector.
5. The method for unmanned aerial vehicle collaborative suspension handling based on a single-axis tension sensor according to claim 1, wherein the fourth step comprises:
rope force born by ith unmanned aerial vehicle in vertical direction based on third stepSelecting a leader-follower frame design force cooperative control algorithm to enable each unmanned aerial vehicle to bear the same load weight in cooperative transportation;
the height controller output of the leader is designed to be:
wherein p is 1d,z Representing the desired altitude of the leader drone,representing the second derivative of (-) with respect to time, k p And k v The control gain of the leader unmanned aerial vehicle is expressed, and the steady-state accuracy and the rapidity of the height tracking dynamic of the leader unmanned aerial vehicle are affected;
the follower height controller output is designed to:
wherein i=2, …, n, xi i Representing a set of neighbor nodes of the ith unmanned aerial vehicle, j E i Represents the jth unmanned aerial vehicle adjacent to the ith unmanned aerial vehicle, lambda i A weight representing the force adjustment; the height controllers of the leader and all followers are output as control instructions and input to the unmanned aerial vehicle autopilot, and the autopilot realizes the adjustment of the height of the unmanned aerial vehicle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117762162A (en) * | 2024-02-22 | 2024-03-26 | 中国民用航空总局第二研究所 | multi-unmanned aerial vehicle combined lifting control method and device |
| CN117970944A (en) * | 2024-03-29 | 2024-05-03 | 微至航空科技(北京)有限公司 | Collaborative handling system formed by unmanned aerial vehicle units |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117762162A (en) * | 2024-02-22 | 2024-03-26 | 中国民用航空总局第二研究所 | multi-unmanned aerial vehicle combined lifting control method and device |
| CN117762162B (en) * | 2024-02-22 | 2024-05-28 | 中国民用航空总局第二研究所 | Multi-unmanned aerial vehicle combined lifting control method and device |
| CN117970944A (en) * | 2024-03-29 | 2024-05-03 | 微至航空科技(北京)有限公司 | Collaborative handling system formed by unmanned aerial vehicle units |
| CN117970944B (en) * | 2024-03-29 | 2024-05-31 | 微至航空科技(北京)有限公司 | Collaborative handling system formed by unmanned aerial vehicle units |
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