Research On Control Technique Of Tree Barrier Cleaning Aerial Robot With Suspended Saws

Tree barrier seriously endangers safety of the power line system.Tree Barrier Cleaning Aerial Robot with Suspended Saws(TBCARSS)can cut the horizontally growing tree barrier with suspended saws.This paper mainly focuses on the research of flight control technology for TBCARSS.Firstly,the structure of TBCARSS is designed by three-dimensional software,the flight principle of Aerial Robot is analyzed,and the kinematics and dynamics model are built by Newton Euler equation and Lagrange modeling method.On this basis,the disturbance while TBCARSS cleaning tree Barrier is analyzed and the disturbance model is established.Secondly,the flight control method of TBCARSS based on ADRC is studied,and the parameter regulation law of ADRC is discussed.According to the model of TBCARSS,the virtual control variable is introduced to decouple position and attitude channels,and on this basis,the ADRC attitude and position controller is designed.The linear state feedback method is used to design the swing angle controller,and the output of swing angle controller is compensated to the position controller to realize the swing angle control of saws.The simulation verification test is designed,which shows the effectiveness of the proposed method.Then,the attitude and position control method of TBCARSS based on ASC is studied.The principle and design method of SMC is disgussed.SMC is used to redesign the state error feedback law of ADRC attitude controller to obtain ASC attitude controller,which further improves the system’s fastness.The coupling problem between position and the swing angle of TBCARSS is discussed.A method combining Hierarchical Sliding Mode(HSM)and ADRC is proposed to solve this problem,and the stability proof of this method are given.Based on this method,Hierarchical sliding mode ADRC position-swing angle controller is disgned.The simulation test is carried out,and the simulation results are compared with those of the ADRC control method,and the comparison results are obtained.Finally,a visual joint simulation of TBCARSS is designed.TBCARSS ontology model,environment model and controller script are built in V-rep.The synchronous blocking communication between controller and V-rep is reliazed by writing scripts of V-rep and Matlab.The complete joint simulation scheme is given and verified by two tests.