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

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

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.