旋翼飞行机械臂建模及动态重心补偿控制

Rotor-flying manipulator modeling and control with dynamic compensation for gravity offset

中文关键词  旋翼飞行机械臂  重心补偿  轨迹跟踪控制  反演控制

英文关键词  rotor-flying manipulator  center of gravity compensation  trajectory tracking controller  backstepping control

中文摘要

      旋翼飞行机械臂是将多关节机械臂固连在旋翼飞行平台上而组成的一种面向主动任务操作的特殊系统, 其飞行平台和机械臂之间存在强耦合特性. 本文针对机械臂的规划运动对飞行平台的干扰问题, 建立了系统运动 学和动力学模型, 并通过动态计算系统重心位置坐标, 设计出基于backstepping的动态重心补偿控制方法, 针对补偿 项测量噪声问题设计了二阶低通滤波器, 并使用Lyapunov稳定性理论证明了系统的稳定性. 仿真和实验均验证了 在相同的参数条件下, 具有动态重心补偿项的控制算法比没有重心补偿项的控制算法在轨迹跟踪和姿态稳定方面 具有明显优势.

英文摘要

      Equipping multi-joint manipulator on a rotor-flying platform we constitute a special system which can actively manipulate in environment. In this system, there exists a strong coupling between the rotor-flying platform and the manipulator. To deal with the reactive force on the rotor-flying platform from the manipulator, we formulate the kinematic and dynamic equations of the system, and propose a backstepping-based control scheme for dynamically compensating the center of gravity according to the dynamic computation position of the center of gravity; meanwhile, a second-order low-pass filter is designed for compensating the measurement noise. The system stability is proved through the Lyapunov stability theory. Simulation and experimental results validate the effectiveness of the proposed control method and demonstrate the superiority in trajectory tracking and attitude stabilization over those methods with no compensation for center of gravity under the same conditions.