新型多旋翼作业型空中机器人自抗扰控制

针对输电线路树障清理作业任务对空中机器人平台稳定性、平动性和抗扰性的高要求,为克服传统平面配置多旋翼无人机姿态配合式位置移动的缺点,本文在全驱动多旋翼飞行器设计思想的启发下,提出并设计了一种无需姿态配合即可实现前后平移运动的非平面作业型多旋翼空中机器人.首先分别建立其姿态的运动学和动力学模型,然后采用自抗扰控制技术设计了该机器人的位置和姿态跟踪控制律.多组仿真和样机实验结果表明,本文所设计的非平面配置旋翼空中机器人在作业过程中的接触力扰动下具有良好稳定性、平动性和抗扰性.

Active disturbance rejection control of a novel multi-rotor aerial robot with a manipulator

In regard to the high demand for the stability, translational movement ability and the anti-disturbance ability ofthe aerial robot used for cleaning of tree barriers along power transmission line corridors, and considering the shortcomingsof the traditional multi-rotor aircraft structure with planar rotor configuration which has to move with attitude coordination,and therefore with the inspiration of the design idea of full-drive multi-rotor aircraft, this paper proposes a non-planarmulti-rotor aerial robot that can implement front and rear translational motion without attitude coordination. Firstly, thedynamics and kinematics models of position and attitude are established for the new structure aerial robot. Then, theposition and attitude tracking control law of the robot are designed based on the active disturbance rejection control (ADRC)technology. Lastly, the results of multiple sets of simulations and experiments show that the rotor aerial robot of the nonplanarconfiguration designed in this paper has excellent translational movement and anti-disturbance ability under thedisturbances of contact force during the operation.