Rotorcraft Aerial Manipulator Control System Design And Simulation Test

Rotorcraft aerial manipulator(RAM) system is an aerial robot with manipulators,which involve a unmanned arerial vechicle and an aerial manipulator.When performing precise operation in hovering mode, there exists relative disturbance between the rotorcraft aerial vehicle and the manipulator, which cannot be eliminated through establishing dynamic models of the manipulator and the rotorcraft separately. Therefore,the accuracy of the mission can be largely determined by the accuracy of the control system.The main content of this paper is to design the RAM's autonomous flight control system, according to the RAM's control requirements. In this research, the overall dynamics model is firstly developed based on dynamic disturbance of the both components, which is simplified as a linear control reference model in hovering mode.According to this structure, the inner-loop attitude control system and the trajectory control system are designed respectively. Error compensation system based on Neural Network is developed according to the characteristics of model tracking error. Finally,implementing the VS programming language, the autonomous flight control and simulation software is developed. Prepare for the next flight test.