Research On Motion Control Based On A Kind Of Flying Spherical Robot

With the progress of MEMS manufacturing technology and the development of artificial intelligence technology,unmanned aerial vehicle(UAV)plays an important role and show great advantages in agricultural photogrammetry,terrain exploration,mountain forest search and rescue,military reconnaissance,etc.As a special unmanned aerial vehicle,flying spherical robot has attracted more and more researchers and institutions because of its simple structure,strong environmental adaptability,efficient mobility and dual mode of air-ground motion.At present,flying spherical robots have some basic problems,such as underactuated,nonlinear,time-varying,strorng coupling,etc.In addition,there are some uncertainties,such as external disturbances,system uncertainties and so on.In order to solve the above problems,it is necessary to study and design more reasonable robot structure.Compared with single rotor,multi rotor can greatly improve the mobility and control accuracy of the robot.Therefore,in this paper,a multi rotor structure of flying spherical robot research is carried out,the specific content is as follows:1)Build the dynamic model of flying spherical robot.Firstly,the whole structure of the robot is analyzed,and the internal coupling disturbance of the dynamic structure of the airframe is studied.Secondly,the dynamics model of the rotor is established by using the blade element theory.On this basis,the resultant force and moment of the six rotor acting on the airfiame are deduced.Finally,the nonlinear aerodynamic model of the flying spherical robot is established by Newton Euler equation under the condition of airframe load and air resistance.2)Research on attitude information fusion method of flying spherical robot.Construct a two-level fusion structure for robot pose information.An improved extended kalman filtering algorithm is used to fuse the sensor data of accelerometers,magnetometers,gyroscopes and so on.Secondly,the least squares method is used to re fuse the height barometer and GPS sensor data,and then the two-level compensation of the first level fusion result is processed by using the processed data to complete the two level information fusion of the system.3)Research and design flight attitude controller of spherical flying robot.Firstly,the aerodynamic model of the robot under dynamic disturbance is defined,which provides a theoretical basis for the design of controller design.Secondly,a controller based on neural network is designed to realize the attitude control of the robot.Aiming at the problem that the controller network is easy to fall into local optimum and easy to diverge,a hybrid optimization algorithm based on APSO-BFGS is proposed to improve the above problems.The experimental results show that the neural network controller can effectively realize the autonomous flight control of the robot.4)Research on autonomous takeoff and landing method of spherical flying robot in uncertain environment.By formulating the takeoff attitude and obstacle avoidance strategy of the robot in uncertain environment,the task division of takeoff and landing phase is completed.According to the different stages of the flight task,the corresponding tracking controller is used to realize the implementation of the landing strategy.The simulation results show that the controller can effectively realize the nonlinear trajectory control of the robot.