基于Kane法的四旋翼无人机吊挂系统建模与控制研究

周嘉星; 余子成; 高登巍; 黄桂兰; 陈志高; 邓钊

doi:10.15892/j.cnki.djzdxb.2025.05.033

弹箭与制导学报 >

2025 , Vol. 45 >Issue 5: 887 - 899

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.05.033

学术文章

基于Kane法的四旋翼无人机吊挂系统建模与控制研究

周嘉星 ^,¹^,² ,
余子成 ^,¹^,²^,^* ,
高登巍 ³^,⁴ ,
黄桂兰 ¹^,² ,
陈志高 ¹^,² ,
邓钊 ¹^,²

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¹ 厦门理工学院电气工程及自动化学院, 福建厦门 361024
² 厦门市高端电力装备及智能控制重点实验室, 福建厦门 361000
³ 西安现代控制技术研究所, 西安 710065
⁴ 陆空基信息感知与控制全国重点实验室, 西安 710065

余子成(1998—),男,硕士研究生,E-mail:2422141028@stu.xmut.edu.cn

周嘉星(1989—),男,讲师,E-mail:2021000082@xmut.edu.cn

收稿日期: 2025-04-10

网络出版日期: 2025-11-28

基金资助

福建省自然科学基金资助(2022J05286)

厦门市科技计划资助项目(3502Z20227072)

厦门理工学院高层次人才科研启动资助项目(YKJ22019R)

厦门理工学院高层次人才科研启动资助项目(YKJ24018R)

教育部产学合作协同育人项目(231102532155002)

厦门理工学院研究生创新启动基金(YKJCX2024164)

厦门理工学院研究生创新启动基金(YKJCX2024147)

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Research on Modeling and Control of a Quadrotor Slung-Load System Based on Kane’s Method

ZHOU Jiaxing ^,¹^,² ,
YU Zicheng ^,¹^,²^,^* ,
GAO Dengwei ³^,⁴ ,
HUANG Guilan ¹^,² ,
CHEN Zhigao ¹^,² ,
DENG Zhao ¹^,²

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¹ Xiamen University of Technology, School of Electrical Engineering and Automation, Xiamen 361024,Fujian, China
² Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control, Xiamen 361000,Fujian, China
³ Xi’an Mordern Control Technology Research Institute, Xi’an 710065,Fujian, China
⁴ National Key Laboratory of Land and Air Based Information Perception and Control, Xi’an 710065,Fujian, China

Received date: 2025-04-10

Online published: 2025-11-28

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摘要

针对四旋翼无人机吊挂负载系统传统建模方法(牛顿-欧拉/拉格朗日)建模步骤繁琐、计算效率低以及负载摆动稳定时间过长的问题。首先,提出一种基于Kane法建立四旋翼吊挂系统动力学模型的方法。该方法无需分析牛顿-欧拉法中的理想约束反力,也不必计算拉格朗日法中的动力学函数及其导数。在此基础上,设计一种基于自适应矩估计-神经网络-PID(Adaptive Moment Estimation-Neural Network-PID, Adam-NN-PID)的抗摆控制器,并搭配一种摆角-位移控制策略,以实现负载快速稳定;最后,在仿真环节中,对系统加入多种风扰,以研究抗摆控制器的动态控制效果。仿真结果表明:相较于传统PID和BPNN-PID摆角控制器,基于Adam-NN-PID设计的抗摆控制器,能更快速的使负载稳定,并且负载摆动幅度更小。

关键词： 四旋翼无人机吊挂; Kane法动力学建模; 负载摆动控制; Adam-NN-PID

本文引用格式

周嘉星 , 余子成 , 高登巍 , 黄桂兰 , 陈志高 , 邓钊 . 基于Kane法的四旋翼无人机吊挂系统建模与控制研究[J]. 弹箭与制导学报, 2025 , 45(5) : 887 -899 . DOI: 10.15892/j.cnki.djzdxb.2025.05.033

Abstract

To address the problems of cumbersome modeling procedures, low computational efficiency in conventional methods(Newton-Euler/Lagrange) for quadrotor UAV slung-load systems, and excessive load swing stabilization time, this study first proposes a Kane’s method-based approach for establishing the dynamic model of the quadrotor slung-load system. This method eliminates the need to analyze ideal constraint forces required in Newton-Euler formulations and avoids computations of dynamic functions and their derivatives in Lagrange methods. Building upon this foundation, an anti-swing controller integrating Adaptive Moment Estimation-Neural Network-PID (Adam-NN-PID) is designed, combined with a swing angle-displacement control strategy to achieve rapid load stabilization. Finally, the simulation introduces multiple wind disturbances to investigate the dynamic control performance. Results demonstrate that compared to conventional PID and BPNN-PID swing angle controllers, the proposed Adam-NN-PID anti-swing controller achieves faster load stabilization with reduced swing amplitude.

Key words： Quadrotor suspend; Kane modeling; Load swing control; Adam-NN-PID

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参考文献

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