| 引用本文: | 钟杭,王耀南,李玲,刘洪剑,李力.旋翼飞行机械臂建模及动态重心补偿控制[J].控制理论与应用,2016,33(3):311~320.[点击复制] |
| ZHONG hang,WANG Yao-nan,LI Ling,LIU Hong-jian,LI Li.Rotor-flying manipulator modeling and control with dynamic compensation for gravity offset[J].Control Theory and Technology,2016,33(3):311~320.[点击复制] |
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| 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 |
| 摘要点击 3918 全文点击 1677 投稿时间：2014-12-08 修订日期：2015-10-16 |
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| DOI编号 10.7641/CTA.2016.41136 |
| 2016,33(3):311-320 |
| 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 |
| 基金项目 国家自然科学基金项目(61433016, 61175075)资助. |
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| 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. |
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