| At present,rotor UAV has been widely used,but all kinds of peripherals carried by it are mainly limited in monitoring,mapping and perception,etc.,and only simply passively "look" at the external environment,while the UAV loaded with robotic arms can turn passively into active.It is capable of dynamic interaction with the external environment,enabling environmental monitoring and sampling in hazardous areas,as well as carrying rescue supplies for trapped individuals during disasters.Due to these capabilities,it has seen continued development and use.However,at present,the grasping mode of UAV with manipulator is single and unsafe,and when flying and grasping objects with manipulator at the same time,the coupling effect of the whole system is more complex,the disturbance is more intense.The traditional methods are difficult to stabilize control.Therefore,a new structure is designed in this paper,and then the mathematical modeling and control method of the whole coupling system are studied.The main contents are as follows:(1)According to the Newton-Euler equation,the dynamic model of X-type rotor UAV is deduced,and the cascade PID controller of inner and outer loop is built.The system simulation model is created by using MATLAB/Simulink environment.Finally,two working conditions are used to verify the effectiveness and accuracy of outer ring position and inner ring attitude control channel of rotor UAV.(2)The three-dimensional modeling and assembly of UAV with manipulator is carried out by using Unigraphics NX software,a new complex combination mechanism is designed,and a series-parallel platform which can connect multiple manipulators is constructed for cooperative operation,so as to improve the safety,flexibility,stability and controllability of grasping in flight.In order to facilitate modeling and control,the structure is further simplified,at the same time,the workspace of the aerial manipulator is analyzed separately.(3)Based on the mathematical modeling of the simplified mechanical structure,according to the position and attitude relationship in space and Euler-Lagrange equation,the rotor UAV is connected with the 3-DOF manipulator,and the whole kinematics and dynamics model is deduced.It ensures the accuracy of building the system and provides the corresponding modeling basis and theoretical support for the follow-up stability control.(4)In view of the instability and slow response of UAV with manipulator in the process of flying and grasping,the integral sliding mode method is applied to the overall control of UAV with manipulator,and the integral sliding mode control rate is designed and derived.The simulation model of the system is established by using MATLAB/Simulink environment,considering the influence of omni-directional disturbance and increasing load after grasping,and two working conditions are used for verification.The simulation results show that its robustness and response speed are better than those of conventional PID control,which ensures that the manipulator system can run efficiently and stably.Finally,the experimental prototype and indoor test platform are built.This paper mainly studies a new structure design and system modeling control method of UAV with manipulator.A switchable structure of series-parallel multi-arm grab rotor UAV is designed,which improves the safety,flexibility,stability and controllability of rotor UAV grasping with manipulator.After the structure is simplified,the integral sliding mode control method is used to control the above system.The anti-jamming performance,response speed and control accuracy of the system are improved,which is of constructive significance for UAV with manipulator to carry out air control tasks in the future. |
