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

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

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.