航空工程进展2025，Vol.16Issue(2)：31-39,9.DOI:10.16615/j.cnki.1674-8190.2025.02.04
多旋翼无人机协同吊挂载荷控制方法研究
Research on hanging load control method for collaborative suspension of multi-rotor UAV
摘要
Abstract
The single UAV carries the load,the carrying capacity is limited,and multi-aircraft integration is the trend of the Times.Euler-Lagrange method is used in traditional rotor-load modeling.When dealing with the con-straints of multi-UAV hanging load system,it is necessary to introduce multiple auxiliary variables,and the model-ing process is complicated.Udwadia-Kalaba(U-K equation)is an effective attempt to solve the problem of cooper-ative load transport of rotorcraft by modeling the cooperative flight control of rotorcraft by treating the constraint conditions.By establishing the kinematics model and dynamics model of the rotor UAV,using the U-K equation to deal with the motion constraints,the influence of the load on the UAV is divided into horizontal and vertical direc-tions,and the input of the step signal is used to solve and calculate.The cascade PID control model is designed on the control strategy of the system.To ensure that the rotary-wing UAV has good anti-interference ability and sta-bility under the condition of multi-aircraft cooperation,simulink model is used to conduct simulation analysis in Matlab environment.The numerical simulation results show that the proposed control method achieves the stabili-ty,rapidity and accuracy of the formation system,and can achieve the goal of optimizing the cooperative control ef-fect of the rotary-wing UAV.关键词
四旋翼编队/载荷运输/Udwadia-Kalaba/Matlab/Simulink/PIDKey words
quadrotor formation/load transport/Udwadia-Kalaba/Matlab/Simulink/PID引用本文复制引用
路向阳,任相龙,薛久辉..多旋翼无人机协同吊挂载荷控制方法研究[J].航空工程进展,2025,16(2):31-39,9.基金项目
国家自然科学基金(61975015,62375017) （61975015,62375017）
河南省教育厅重点项目(21B510014) （21B510014）
中原工学院基本科研项目(2100255) （2100255）
2022年第二批产学合作协同育人项目(220902693232323) （220902693232323）
2022年度中原工学院校级教学改革研究与实践项目(2022ZGJGLX017) （2022ZGJGLX017）
