| In addition to the functions of a four-rotor UAV,armed UAVs also have the ability to interact with the surrounding environment,such as conducting maintenance operations on high-voltage power lines at high altitude.However,high altitude generally has a certain degree of wind field.Due to the fact that the four-rotor UAV has more output than input,it is an underactuated system,with a weak resistance to external interference,and is prone to interference from the wind field.At the same time,the single arm UAV installs the base of the mechanical arm at the center of the four-rotor UAV.When the mechanical arm rotates,it will generate force and torque effects on the four-rotor UAV.Under the joint interference of the wind field and the mechanical arm,the stability and robustness of the armed UAV greatly decrease.In order to solve the above problems,this paper proposes a dual robotic arm UAV mechanism.The robotic arms are symmetrically distributed on the axis of the four-rotor UAV coordinate system,and the two robotic arms rotate in opposite directions,which can counteract the effects of some forces and moments.At the same time,an adaptive integral backstepping controller and an extended state observer based backstepping controller are designed to enable the armed UAV to operate stably under wind field interference,And the two robotic arms can rotate independently,improving the application range and working ability of the armed UAV.The main research content of this article is as follows:(1)Firstly,the flight principle of the four rotor UAV is introduced in detail.Then,a dynamic model is constructed based on the flight principle of the four rotor UAV.Then,PID and backstepping methods are selected to design the controller of the four rotor UAV.Finally,simulation experiments are conducted in Matlab/Simulink.The experimental results show that the traditional backstepping method has better control effects when accurate dynamic models are obtained.(2)Firstly,a dynamic model of a single robot arm is established.Due to the need to obtain detailed parameters of the robot arm,the Newton Euler iteration method is selected to analyze the kinematics and dynamics of the robot arm,and the Jacobian matrix of the robot arm is obtained.(3)Establishment of the dynamic model of a dual manipulator UAV.Firstly,the structural distribution and dimensions of the dual robotic arm four rotor UAV are introduced through the structural diagram.Then,considering the support torque of the four rotor UAV to the two robotic arms,the mechanical arm and the UAV are coupled,and a dynamic model of the dual robotic arm UAV is established.(4)Firstly,a simulated wind field is established,and then a dynamic model of a dual arm four rotor UAV with wind field interference is established considering the wind field.Then,the adaptive integral backstepping method and the extended state observer based backstepping method are used to establish the controller of the dual manipulator UAV.Finally,simulation experiments of the two algorithms and the traditional backstepping method are conducted in Matlab/Simulink.The experimental results show that the adaptive integral backstepping method and the extended state observer based backstepping method have stronger robustness,faster response speed,and better control effect compared to the traditional backstepping method and PID method.The main purpose of this paper is to design a dynamic model of a dual manipulator four rotor UAV under wind field interference,and use adaptive integral backstepping method and extended state observer based backstepping method to design its controller.This improves the stability and anti-interference ability of the dual manipulator UAV during flight,while improving the stability and robustness of the manipulator rotation. |
