Study On The Motion Control Of The Four-rotor Aircraft With A Robotic Arm

Since four rotors aircraft has the characteristics of flexible operation and autonomous flight,it has been broadly applied in investigation and rescue,remote sensing survey,agricultural application and logistics transportation.Such technology is increasingly investigated and the research in four rotors aircraft has become a new field for scientific research workers.However,four rotor aircraft with robot arms is a strong coupling,lacking of drive,and nonlinear control system.Additionally,the strong coupling relationship between robot arms and the aircraft make to design and control the system more difficult.Thus,it is of great significance to model and design the aircraft with appropriate control methods.For the reason of complicated to model and hard to design four rotors aircraft control system,this thesis studied dynamics modeling,controller design and motion analysis based on the different conditions.The following studies are conducted.(1)Generally,the four rotor aircraft do not well in operations with robot arms,which make the flexibility of the quadrotor aircraft not guaranteed.Therefore,when the hardware of system is selected and designed,a scheme for hardware design of the machine is developed to simplify structure and design module.(2)For modeling a complex dynamics problem of four rotor aircraft loading manipulator system,firstly,kinesiology for the system is analyzed.Then,Newton Euler and EulerLagrange methods are both used to analysis and control the system.Finally,based on some reasonable conditions,the system model is simplified.(3)Based on the tracking flight of the system,it requires that the robot stays at initially section with the trait of inalterability.This paper developed two controller based on different control theories respectively,which are PID double loop and adaptive sliding mode,and then the simulation system of four rotors with manipulator is built by using MATLAB software.Finally,the simulation results show that the state output of the system with adaptive sliding mode controller is better than that with PID controller.(4)Based on the fetch instructions of the system,it requires that the stability of four rotors aircraft in a hover state keeps unchanged.Firstly,based on the cubic polynomial interpolation theory,the joints of the manipulator trajectory function are solved.Then,controllers for robot arms with PID methods and four rotors aircraft are designed,respectively.Finally,MATLAB software is used to build a simulation model.By comparing the two groups of model attitude angle output curve,it shows that the aircraft with adaptive sliding mode controller system can obtain better influence than that system with the PID controller.