用于清洗绝缘子的四旋翼无人机抗回冲力控制

本文主要针对利用四旋翼无人机清洗绝缘子时受到的回冲力干扰及姿态控制问题,提出了一种用于清洗绝缘子的无人机抗回冲力控制方法.对于无人机系统,本文运用非线性控制方法中的反步法来设计姿态控制器,使其达到输入状态稳定,并对外部扰动具有鲁棒性.本文首先根据无人机运动模型建立了其动力学方程.之后,运用动量定理和流体力学中的伯努利方...

Anti backlash force control of quadrotor unmanned aerial vehicles for insulator cleaning

In this paper, aiming at the problem of backlash force interference and attitude control when using quadrotorunmanned aerial vehicles (UAV) to clean insulators, a method of anti backlash force control for cleaning insulator ofquadrotor UAV is proposed. For the UAV system, this paper uses the backstepping method in the nonlinear control methodsto design the attitude controller to make the system stable in input to state and robust to external disturbance. In this paper,the dynamic equations of the quadrotor UAV attitude system is first established. Then, the Bernoulli equation in fluidmechanics and momentum theorem are used to model the backlash force. After that, an attitude controller is designedby backstepping method and its stability is proved. Finally, simulation experiments of UAV systems are performed byMATLAB. The results prove the effectiveness and robustness of the proposed control method. The control method proposedin this paper can avoid the shortcomings of some existing technologies and provide development space for anti disturbancecontrol of UAV and insulator cleaning.