Research On Flight Stability Of Quadrotor UAV Hanging System For Aerial Survey

Quadrotor UAV is widely used in aerial survey operation scenarios because of its simple structure and vertical takeoff and landing.However,the electromagnetic interference of UAV airframe to aerial survey equipment makes the insufficient accuracy of aerial survey results one of the key problems of quadrotor UAV in aerial survey operation applications.Therefore,it is of great significance to study the hanging flight of quadrotor UAV,which carries aerial survey equipment.The advantage of using the hanging flight mode is that it does not need to consider the shape of the hanging load and the aerial survey equipment is far away from the quadrotor UAV,which greatly reduces the electromagnetic interference of the quadrotor UAV to the aerial survey equipment.However,when the load is suspended by ropes,the coupling between the suspended load and the quadrotor will have a certain impact on the flight safety of the quadrotor UAV,and the swing and rotation of the suspended load will also have an impact on the aerial survey accuracy.This dissertation focuses on the swing and rotation of suspended load in the suspension system of quadrotor UAV for aerial survey.The specific research contents are as follows:(1)Based on Newton’s second law and Euler equation,the dynamic modeling of quadrotor UAV is carried out,and the internal and external double closed-loop quadrotor UAV flight control system is designed based on ADRC.In Matlab/Simulink,the control effect of the quadrotor UAV flight control system designed in this paper compared with PID control is analyzed by hovering simulation at fixed point and fixed trajectory,and the wind impact is added to the simulation model to test its wind resistance performance.(2)Based on Euler Lagrange equation,the dynamic model of the suspension system of quadrotor aerial survey UAV is established.The control performance and anti-interference performance of the flight control system of quadrotor aerial survey UAV designed in this dissertation in the suspension system of quadrotor aerial survey UAV are verified in Matlab/Simulink through fixed point and fixed track straight flight and wind resistance performance simulation.(3)The simulation compares the influencing factors that affect the swing amplitude of the suspended load:the flight speed of the quadrotor UAV,the length of the suspended rope and the mass of the suspended load.The speed of the quadrotor UAV is adjusted through the coupling relationship between the quadrotor UAV and the suspended load to reduce the swing of the suspended load.(4)To address the issue of the impact of three-axis rotation of suspended loads on the accuracy of aerial surveys,the suspension system was first designed.Then,a streamlined drag reduction pod was designed to reduce wind resistance during flight.Finally,a three-axis stable platform for aerial survey equipment was designed based on the Stanikon three-axis stability principle,and its three-axis stability effect was verified through simulation in ADAMS.