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Control of tricopters cooperating in carrying loads suspended on ropes

三轴飞行器协同承载悬挂在绳索上的负载的控制

基本信息

批准号：
253047761
负责人：
Professor Dr.-Ing. Joachim Rudolph
金额：
--
依托单位：
Lehrstuhl für Systemtheorie und Regelungstechnik
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2014
资助国家：
德国
起止时间：
2013-12-31 至 2017-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/253047761?language=en
关键词：
Control tricopters cooperating carrying loads

项目摘要

The aim of this project is to develop model based methods for the control of unmanned aerial vehicles (specifically tricopters) cooperating in carrying a load attached to ropes. The mechanical coupling between the vehicles and the load leads to challenging control problems which drastically differ from those met with mechanically uncoupled cooperating vehicles, as intensively investigated otherwise. Although a number of technological problems must be solved in the project, its main objective is the investigation of control design methods. The mathematical model of the plant is a hybrid system: Nonlinear ordinary differential equations describe the rigid body motion and the aerodynamics of the rotors, while partial differential equations must be considered for the ropes - the few existing publications on the subject model the ropes as rigid links. Since the load transport is a typical trajectory tracking task, flatness based control methods for nonlinear finite and infinite dimensional systems are particularly well suited and will thus be extended for solving this challenging problem.

这个项目的目的是开发基于模型的方法来控制无人机(特别是三翼直升机)，这些无人机合作承载绳索上的负载。车辆和负载之间的机械耦合导致了具有挑战性的控制问题，这些问题与机械非耦合协作车辆遇到的控制问题截然不同，这一点在其他方面进行了深入的研究。虽然该项目需要解决一些技术问题，但其主要目的是研究控制设计方法。工厂的数学模型是一个混合系统：非线性常微分方程组描述了刚体运动和转子的空气动力学，而绳索必须考虑偏微分方程组--现有的为数不多的关于绳索作为刚性连杆的主题模型的出版物。由于负载传输是一种典型的轨迹跟踪任务，基于平坦度的非线性有限维和无限维系统控制方法特别适合于解决这一具有挑战性的问题，因此将被推广到这一具有挑战性的问题。