| 引用本文: | 廖禄伟,杨忠,王灿,许昌亮,徐浩,王志永,张秋雁.悬挂伸缩刀具的树障清理空中机器人飞行控制方法[J].控制理论与应用,2023,40(2):343~352.[点击复制] |
| Liao Lu-wei,Yang Zhong,Wang Chan,Xu Chang-liang,Xu Hao,Wang Zhi-yong,Zhang Qiu-yan.Flight control method of aerial robot for tree obstacle clearing with hanging telescopic cutter[J].Control Theory and Technology,2023,40(2):343~352.[点击复制] |
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| 悬挂伸缩刀具的树障清理空中机器人飞行控制方法 |
| Flight control method of aerial robot for tree obstacle clearing with hanging telescopic cutter |
| 摘要点击 1139 全文点击 555 投稿时间：2021-11-10 修订日期：2022-05-02 |
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| DOI编号 10.7641/CTA.2022.11093 |
| 2023,40(2):343-352 |
| 中文关键词 树障清理 空中机器人 接触作业 动力学建模 线性自抗扰控制 力控制 |
| 英文关键词 trees pruning aerial robot contact operation dynamics model linear active disturbance rejection control force control |
| 基金项目 贵州省科技计划项目(黔科合支撑[2020]2Y044号), 中国南方电网有限责任公司科技项目(066600KK52170074), 航空科学基金(重点实验室类)项 目(201928052006)资助, 南航研究生科研与实践创新计划项目(XCXJH20210316). |
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| 中文摘要 |
| 针对输电线路附近的树障进行清理问题, 本文提出了一种新型的悬挂伸缩刀具的树障清理空中机器人并
进行了仿真和实物验证. 首先, 对悬挂伸缩刀具的空中机器人进行了伸缩刀具重心变化下的动力学、运动学建模及
接触建模. 其次, 为避免空中机器人接触作业时机器人倾翻的问题, 设计了力估计器用于力感知和导纳控制器用于
力控制. 针对空中机器人非线性强耦合、伸缩刀具时参数摄动及作业时扰动的问题, 设计了线性自抗扰控制
(LADRC)的机器人位姿控制器. 再次, 数值仿真验证了导纳控制能有效避免空中机器人接触作业时产生倾翻的问
题, 以及基于LADRC控制器的位姿控制具有良好的稳定性和抗扰性. 最后, 通过实物飞行和接触作业测试, 进一步
验证了本文悬挂伸缩刀具的树障清理空中机器人及其控制方法的有效性. |
| 英文摘要 |
| Aiming at the problem of clearing tree obstacle near power transmission lines, this paper proposes a new
hanging telescopic cutter for tree obstacle clearing aerial robot contact and carries out simulation and physical verification.
Firstly, the dynamics, kinematics and contact modeling of the aerial robot with telescopic tool hanging are carried out
under the change of the tool center of gravity. Force estimator and admittance controller are designed for force sensing and
force control in order to avoid the problem of robot tipping during contact operation. A linear active disturbance rejection
(LADRC) robot pose controller is designed to solve the problems of nonlinear strong coupling, parameter perturbation
and operation disturbance of aerial robots. The simulation results show that the admittance control can effectively avoid
the tipping problem of aerial robots during contact operation, and the LADRC controller based pose control has good
stability and disturbance resistance. Finally, physical flight and contact operation tests further verify the effectiveness of
the proposed aerial robot and its control method. |
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