Multi-rotor with suspended load: System Dynamics and Control Toolbox
Multi-rotor with suspended load: System Dynamics and Control Toolbox
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悬挂负载多旋翼：系统动力学和控制工具箱
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
A. Mcfadyen
中科院分区：
文献类型：
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作者：
Jan Trachte;Luis Felipe Gonzalez Toro;A. Mcfadyen
对无人机系统（UAS）进行悬挂负载的需求越来越大，因为这可以为农业，执法和建筑中的几种应用提供显着的好处。载荷对系统动力学的影响不应忽略，因为在某些飞行机动过程中，飞行器上可能会产生很大的反馈力。由悬挂负载引起的工作点的恒定变化也导致常规控制器要求增加控制努力。许多研究都集中在标准的多旋翼的位置和姿态控制有和没有悬挂负载。然而，预测控制方案，如非线性模型预测控制（NMPC），尚未得到充分的探讨。为此，我们提出了一种新的控制器，用于安全和精确的操作，多转子与沉重的悬挂负载在三维空间。本文介绍了一个系统动力学和控制仿真工具，用于与MATLAB/SIMULINK，其中包括一个详细的模拟多转子和悬挂负载，以及预测控制器来管理非线性动态，同时占系统的约束。它表明，控制器同时跟踪指定的航路点，并积极阻尼大吊挂负载振荡。一个线性二次型调节器（LQR）的推导和控制性能进行了比较。结果表明，改进的性能的预测控制器的一个更大的飞行包线，包括积极的机动和大吊挂负载位移。计算成本仍然相对较小，易于实际实现。
There is an increasing demand for Unmanned Aerial Systems (UAS) to carry suspended loads as this can provide significant benefits to several applications in agriculture, law enforcement and construction. The load impact on the underlying system dynamics should not be neglected as significant feedback forces may be induced on the vehicle during certain flight manoeuvres. The constant variation in operating point induced by the slung load also causes conventional controllers to demand increased control effort. Much research has focused on standard multi-rotor position and attitude control with and without a slung load. However, predictive control schemes, such as Nonlinear Model Predictive Control (NMPC), have not yet been fully explored. To this end, we present a novel controller for safe and precise operation of multi-rotors with heavy slung load in three dimensions. The paper describes a System Dynamics and Control Simulation Toolbox for use with MATLAB/SIMULINK which includes a detailed simulation of the multi-rotor and slung load as well as a predictive controller to manage the nonlinear dynamics whilst accounting for system constraints. It is demonstrated that the controller simultaneously tracks specified waypoints and actively damps large slung load oscillations. A linear-quadratic regulator (LQR) is derived and control performance is compared. Results show the improved performance of the predictive controller for a larger flight envelope, including aggressive manoeuvres and large slung load displacements. The computational cost remains relatively small, amenable to practical implementations.