摘要
设计了一种新型全向驱动旋翼机械臂系统,研究了其建模方法并提出了基于动态补偿PID的旋翼平台全向驱动控制方法。首先设计并分析了新型全向驱动旋翼机械臂机构;然后采用Craig参数法与递归Newton-Euler方程建立系统运动学与动力学模型,得出了旋翼平台与机械臂间动力学关系;针对旋翼平台全向驱动控制问题提出了动态补偿PID控制方法,最后推导出统一的多旋翼平台驱动力/力矩与转速的耦合矩阵方程实现设计与解耦计算。仿真考虑了随机噪声与扰动、参数不确定性、功率限制等实际问题,结果显示设计的系统能完成传统旋翼机械臂理论上无法完成的全向驱动控制并具有良好的控制品质,与Backstepping方法比较得出,在具有机械臂运动的任务级控制中,动态补偿PID控制有更好的控制精度和更强的扰动抑制能力。动态补偿控制实验验证了方法的实用性与有效性。
In this paper a new fully-actuated rotor aerial manipulator system is designed,its modeling method is studied and the rotor platform fully-actuated control method based on dynamic-compensation PID is proposed.Firstly,the mechanical structure of the new fully-actuated rotor aerial manipulator（AM） is designed and analyzed.Secondly,the kinematic and dynamic models of the system are built using Craig parameter method and recursion Newton-Euler equation,respectively; and a more accurate dynamic relationship between aerial platform and manipulator is obtained.Then,the dynamic-compensation PID control method is proposed aiming at the fully-actuated control problem of rotor AM.Finally,the uniform coupled matrix equations between driving force/moment and rotor speed of the rotor CM are derived,which realizes the design,analysis and decoupling calculation.In simulation the practical problems including random noise and perturbation,parameter uncertainty,and power limitation are considered; and simulation results show that the designed AM system can complete the fully-actuated control that is impossible to be realized theoretically using traditional rotor AM,and achieves advanced control performance.Compared with Backstepping control method,the proposed dynamic compensation PID control method achieves better control accuracy and stronger disturbance rejection capability in two simulations of the rotor aerial operation tasks with manipulator motion.Dynamic compensation control experiment verifies the practicability and effectiveness of the proposed method.
作者
马乐
王东
李元昕
郝子绪
王诗语
Ma Le;Wang Dong;Li Yuanxin;Hao Zixu;Wang Shiyu(Robotics Technology Laboratory, School of Automation and Engineering, Northeast Electric Power University, Jilin 132012, China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2018年第3期89-99,共11页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(61673101)项目资助
关键词
旋翼机械臂
全向驱动
动力学建模
动态补偿
倾角悬停
rotor aerial manipulator
fully-actuated
dynamics modeling
dynamic compensation
hovering with inclination angle
作者简介
马乐，2006年于辽宁工业大学获得学士学位，2009年于东北电力大学获得硕士学位，2014年于沈阳工业大学获得博士学位，现为东北电力大学副教授，主要研究方向为旋翼机械臂系统与控制、机器人控制、机器人视觉。E—mail：male_robot_nedu@sina．com
