引用本文:万能,白若蓉,汪晓,郭可贵,季海波.用于清洗绝缘子的四旋翼无人机抗回冲力控制[J].控制理论与应用,2021,38(4):496~502.[点击复制]
WAN Neng,BAI Ruo-rong,WANG Xiao,GUO Ke-gui,JI Hai-Bo.Anti backlash force control of quadrotor unmanned aerial vehicles for insulator cleaning[J].Control Theory and Technology,2021,38(4):496~502.[点击复制]
用于清洗绝缘子的四旋翼无人机抗回冲力控制
Anti backlash force control of quadrotor unmanned aerial vehicles for insulator cleaning
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DOI编号  10.7641/CTA.2020.00309
  2021,38(4):496-502
中文关键词  无人机  姿态控制  绝缘子清洗  反步法
英文关键词  unmanned aerial vehicles (UAV)  attitude control  insulator cleaning  backstepping
基金项目  国网安徽省电力有限公司重点科技项目(52120319000B)资助.
作者单位E-mail
万能* 国网安徽省电力有限公司检修分公司 wanneng500@foxmail.com 
白若蓉 中国科学技术大学  
汪晓 国网安徽省电力有限公司检修分公司  
郭可贵 国网安徽省电力有限公司检修分公司  
季海波 中国科学技术大学  
中文摘要
      本文主要针对利用四旋翼无人机清洗绝缘子时受到的回冲力干扰及姿态控制问题, 提出了一种用于清洗 绝缘子的无人机抗回冲力控制方法. 对于无人机系统, 本文运用非线性控制方法中的反步法来设计姿态控制器, 使 其达到输入状态稳定, 并对外部扰动具有鲁棒性. 本文首先根据无人机运动模型建立了其动力学方程. 之后, 运用 动量定理和流体力学中的伯努利方程对所受的回冲力进行建模. 然后, 运用反步法设计姿态控制器并证明其稳定 性. 最后，运用MATLAB对无人机系统进行仿真实验, 其结果证明了文中所提出的控制方法的有效性和鲁棒性. 本 文所提出的控制方案可以避免目前已有的一些技术存在的缺陷, 并且为无人机抗扰动控制和绝缘子冲洗都提供了 发展空间.
英文摘要
      In this paper, aiming at the problem of backlash force interference and attitude control when using quadrotor unmanned aerial vehicles (UAV) to clean insulators, a method of anti backlash force control for cleaning insulator of quadrotor UAV is proposed. For the UAV system, this paper uses the backstepping method in the nonlinear control methods to design the attitude controller to make the system stable in input to state and robust to external disturbance. In this paper, the dynamic equations of the quadrotor UAV attitude system is first established. Then, the Bernoulli equation in fluid mechanics and momentum theorem are used to model the backlash force. After that, an attitude controller is designed by backstepping method and its stability is proved. Finally, simulation experiments of UAV systems are performed by MATLAB. The results prove the effectiveness and robustness of the proposed control method. The control method proposed in this paper can avoid the shortcomings of some existing technologies and provide development space for anti disturbance control of UAV and insulator cleaning.