[1]刘云平,周玉康,张永宏,等.基于滑模PID的飞行机械臂稳定性控制[J].南京理工大学学报(自然科学版),2018,42(05):525.[doi:10.14177/j.cnki.32-1397n.2018.42.05.003]
 Liu Yunping,Zhou Yukang,Zhang Yonghong,et al.Research on stability control of flight manipulatorbased on sliding mode PID[J].Journal of Nanjing University of Science and Technology,2018,42(05):525.[doi:10.14177/j.cnki.32-1397n.2018.42.05.003]
点击复制

基于滑模PID的飞行机械臂稳定性控制()
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
42卷
期数:
2018年05期
页码:
525
栏目:
出版日期:
2018-10-30

文章信息/Info

Title:
Research on stability control of flight manipulatorbased on sliding mode PID
文章编号:
1005-9830(2018)05-0525-08
作者:
刘云平周玉康张永宏黄希杰杨健康
南京信息工程大学 江苏省大气环境与装备技术协同创新中心,江苏 南京 210044
Author(s):
Liu YunpingZhou YukangZhang YonghongHuang XijieYang Jiankang
Collaborative Innovation Center of Atmospheric Environment and Equipment in Jiangsu Province,Nanjing University of Information Science and Technology,Nanjing 210044,China
关键词:
飞行机械臂 动力学建模 稳定性控制 滑模PID 无人机
Keywords:
flight manipulators dynamic modeling stability control sliding mode PID unmanned aerial vehicles
分类号:
TP242
DOI:
10.14177/j.cnki.32-1397n.2018.42.05.003
摘要:
机械臂与旋翼飞行器之间的耦合运动、系统自身的欠驱动特性以及外界的不确定干扰,都会影响旋翼飞行器的稳定性控制。为提高整个系统的飞行稳定性,考虑到波动输入信号和外界扰动的影响,该文建立了飞行机械臂的动力学模型,设计了一种基于滑模PID控制方法的指数趋近率控制器。与传统的PID控制方法相比,该方法不仅能够减弱外界不确定干扰的影响,准确快速地对飞行器进行姿态稳定,而且缩短了调节时间,增强了飞行器的自身稳定性和鲁棒性。
Abstract:
The coupling motion between the manipulator and the rotorcraft,the system’s underactuated characteristics and the uncertain external disturbances have influences on the control of the stability of the rotorcraft. Based on the dynamic model of the rotorcraft and the sliding mode PID control method,a controller with the exponential approximation rate is designed to improve the stability of system control considering the influence of the fluctuation control signal and the external disturbance. Compared with the traditional PID control method,this method can reduce the influence of uncertain interference from the outside,make the attitude of the aircraft more stable and accurate,shorten the adjustment time and enhance stability and robustness of the aircraft.

参考文献/References:

[1] 白永强,刘昊,石宗英,等. 四旋翼无人直升机鲁棒飞行控制[J]. 机器人,2012,34(5):519-524.
Bai Yongqiang,Liu Hao,Shi Zongying,et al. Robust flight control of quadrotor unmanned air vehicles[J]. Robot,2012,34(5):519-524.
[2]Liu Yunping,Li Xianying,Wang Tianmiao,et al. Quantitative stability of quad-rotor unmanned aerial vehicles[J]. Nonlinear Dynamics,2016,83(4):1-15.
[3]杨歆豪,王执铨. 基于反步设计法的非线性主动队列管理算法[J]. 南京理工大学学报,2010,34(3):283-288.
Yang Xinhao,Wang Zhiquan. Nonlinear active queue management algorithm based on backstepping design[J]. Journal of Nanjing University of Science and Technology,2010,34(3):283-288.
[4]朱臻,张侃健. 基于无源性分析的鲁棒输出反馈控制设计[J]. 南京理工大学学报,2005,29(s1):83-86.
Zhu Zhen,Zhang Kanjian. Design of robust output feedback control based on passivity analysis[J]. Journal of Nanjing University of Science and Technology,2005,29(s1):83-86.
[5]Merheb A R,Noura H,Bateman F. Active fault tolerant control of quadrotor UAV using sliding mode control[C]//Proceedings of the International Conference on Unmanned Aircraft Systems. Orlando,US:IEEE,2014:156-166.
[6]Zheng Enhui,Xiong Jingjing,Luo Jiliang. Second order sliding mode control for a quadrotor UAV[J]. ISA Transactions,2014,53(4):1350-1356.
[7]Chen Fuyang,Jiang Rongqiang,Zhang Kangkang,et al. Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV[J]. IEEE Transactions on Industrial Electronics,2016,63(8):5044-5056.
[8]杨斌,何玉庆,韩建达,等. 作业型飞行机器人研究现状与展望[J]. 机器人,2015,37(5):628-640.
Yang Bin,He Yuqing,Han Jianda,et al. Research status and prospect of operational flying robots[J]. Robot,2015,37(5):628-640.
[9]Karagulle H,Malgaca L,Dirilmis M,et al. Vibration control of a two-link flexible manipulator[J]. Journal of Vibration and Control,2015,23(12):573-580.
[10]刘明治,刘春霞. 柔性机械臂动力学建模和控制研究[J]. 力学进展,2001,31(1):1-8.
Liu Mingzhi,Liu Chunxia. Study on dynamics modeling and control of flexible manipulator[J]. Advances in Mechanics,2001,31(1):1-8.
[11]钟杭,王耀南,李玲,等. 旋翼飞行机械臂建模及动态重心补偿控制[J]. 控制理论与应用,2016,33(3):311-320.
Zhong Hang,Wang Yaonan,Li Ling,et al. Modeling of rotorcraft fly-arm and compensation control of dynamic center of gravity[J]. Control Theory & Applications,2016,33(3):311-320.
[12]宋大雷,孟祥冬,齐俊桐,等. 3自由度旋翼飞行机械臂系统动力学建模与预测控制方法[J]. 机器人,2015,37(2):152-160.
Song Dalei,Meng Xiangdong,Qi Juntong,et al. Dynamics modeling and predictive control of a 3-DOF flightless rotor manipulator system[J]. Robot,2015,37(2):152-160.
[13]陈力,刘延柱. 参数不确定空间机械臂系统的增广自适应控制[J]. 航空学报,2000,21(2):150-154.
Chen Li,Liu Yanzhu. An extended and adaptive control of space manipulator with uncertain parameters[J]. Acta Aeronautica ET Astronautica Sinica,2000,21(2):150-154.
[14]刘云平,李先影,王田苗,等. 四旋翼无人机偏航飞行过程量化稳定性分析[J]. 南京理工大学学报,2016,40(5):520-526.
Liu Yunping,Li Xianying,Wang Tianmiao,et al. Quantitative stability analysis of four-rotor unmanned aerial vehicle during yaw flight[J]. Journal of Nanjing University of Science and Technology,2016,40(5):520-526.
[15]Duc M N,Trong T N,Yang S X. The quadrotor MAV system using PID control[C]//Proceedings of the IEEE International Conference on Mechatronics and Automation. Beijing,China:IEEE,2015:506-510.

相似文献/References:

[1]章定国,朱志远.一类刚柔耦合系统的动力刚化分析[J].南京理工大学学报(自然科学版),2006,(01):21.
 ZHANG Ding-guo,ZHU Zhi-yuan.Dynamic Stiffening of Rigid-flexible Coupling System[J].Journal of Nanjing University of Science and Technology,2006,(05):21.
[2]邓宗全,胡明,高海波.月球探测车的动力学建模与仿真分析[J].南京理工大学学报(自然科学版),2005,(05):51.
 DENG Zong-quan,HU Ming,GAO Hai-bo.Dynamic Modeling and Simulating Analysis of Lunar Rover[J].Journal of Nanjing University of Science and Technology,2005,(05):51.

备注/Memo

备注/Memo:
收稿日期:2017-11-21 修回日期:2018-04-12
基金项目:国家自然科学基金(51875293; 51405243; 51575283)
作者简介:刘云平(1979-),男,博士,副教授,主要研究方向:智能机器人、多体系统动力学、运动稳定性、气象仪器等,E-mail:uav_nuist@sina.com。
引文格式:刘云平,周玉康,张永宏,等. 基于滑模PID的飞行机械臂稳定性控制[J]. 南京理工大学学报,2018,42(5):525-532.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2018-10-30