| 引用本文: | 许昌亮,杨忠,姜遇红,徐浩,周东升,廖禄伟,张秋雁.新型多旋翼作业型空中机器人自抗扰控制[J].控制理论与应用,2022,39(4):581~592.[点击复制] |
| XU Chang-liang,YANG Zhong,JIANG Yu-hong,XU Hao,ZHOU Dong-sheng,LIAO Lu-wei,ZHANG Qiu-yan.Active disturbance rejection control of a novel multi-rotor aerial robot with a manipulator[J].Control Theory and Technology,2022,39(4):581~592.[点击复制] |
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| 新型多旋翼作业型空中机器人自抗扰控制 |
| Active disturbance rejection control of a novel multi-rotor aerial robot with a manipulator |
| 摘要点击 2951 全文点击 1098 投稿时间：2020-08-21 修订日期：2021-05-31 |
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| DOI编号 10.7641/CTA.2021.00555 |
| 2022,39(4):581-592 |
| 中文关键词 机器人控制 空中机器人 非平面配置旋翼 动力学建模 双闭环控制 扰动观测器 自抗扰控制 |
| 英文关键词 robot control aerial robot nonplanar rotor configuration modeling of dynamics double closed-loop control disturbance observer active disturbance rejection control |
| 基金项目 国家自然科学基金项目(61473144), 中国南方电网有限责任公司科技项目(066600KK52170074), 贵州省科技计划项目(黔科合支撑[2020]2Y044), 国家重点研发计划项目(2017YFE0113200), 江苏省教育厅高等学校自然科学研究面上项目(19KJD520007), 江苏省普通高校研究生科研创新计 划项目(KYLX16 0380)资助. |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| In regard to the high demand for the stability, translational movement ability and the anti-disturbance ability of
the aerial robot used for cleaning of tree barriers along power transmission line corridors, and considering the shortcomings
of 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-planar
multi-rotor aerial robot that can implement front and rear translational motion without attitude coordination. Firstly, the
dynamics and kinematics models of position and attitude are established for the new structure aerial robot. Then, the
position 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 nonplanar
configuration designed in this paper has excellent translational movement and anti-disturbance ability under the
disturbances of contact force during the operation. |
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