树障清理空中机器人的姿态控制器设计

以一种用于对高压线路附近的树障进行清理的树障清理空中机器人为研究对象,分析其姿态控制问题。首先,建立了具有新型结构的树障清理空中机器人的姿态动力学模型和控制分配矩阵。然后,为了克服惯性矩阵的不确定性,采用滑模方法设计姿态控制器;同时,引入非线性函数来改进传统的边界层法以提高控制器性能;接着提出了一种切换控制分配矩阵的方法来解决空中机器人在切割作业过程中的动力学模型变化的问题。最后,在仿真平台上实现了上述控制器。实验结果表明,本滑模控制器具有良好的姿态控制性能,能有效克服机体惯量的不确定性;通过切换控制分配矩阵实现了空中机器人在切割作业过程中的姿态稳定。

Design of attitude controller for the aerial tree pruning robot

This paper takes the aerial tree pruning robot that is used for clearing the tree barricades near high voltage lines as study object, and the attitude control problem of the aerial robot is addressed. Firstly, the attitude dynamics model and control allocation matrix of the aerial tree pruning robot with new structure are established. Then, in order to overcome the uncertainty of the inertia matrix, the sliding mode method is used to design the attitude controller. At the same time, a non linear function is introduced to improve the traditional boundary layer method and enhance the controller performance. Then, a control allocation matrix switching strategy is proposed to solve the dynamics model change problem of the aerial robot in the cutting operation process. Finally, the controller was implemented on the simulation platform. The experiment results show that the sliding mode controller designed in this paper has good attitude control performance and can effectively overcome the inertia uncertainty of the robot body. Through switching the control allocation matrix, the attitude stabilization of the aerial robot in the cutting operation process is realized.