Stability Control And Trajectory Planning Of Rotor Flying Robot Arm

Most of UAV(Unmanned Aerial Vehicle)are limited to shooting and monitoring although they are widely used.They cannot actively "touch" with the environment to operate objects in the environment.In order to interact with the environment,UAV are usually equipped with additional sensors(such as robotic arms,cameras,other measuring sensors,etc.)to perform various tasks.But these mounted sensors need to limit the quality due to limited drone load.The sensor also brings corresponding drawbacks.The sensor is mounted to make the center of gravity of the UAV shift,and the motion of the sensor disturbs the flight.The stability of the UAV system is greatly affected.In view of the above problems,this paper studies the dynamics model,controller design,trajectory planning and experimental verification of the UAV under the premise of ensuring the stability of the UAV.The main work of this paper are as follows:Firstly,the problem of modeling the robotic arm of the UAV is solved.The system is simplified and the corresponding coordinate system is established.The pseudo-speed is introduced and the dynamics of the system is modeled by the Euler-Ponkale equation.The kinetic equations are analyzed and verified to provide a basis for improving the stability analysis and control design of the system.Secondly,aiming at the disturbance of the robot arm movement to UAV,the exponential approach rate controller of the sliding mode PID control method is designed.Based on the dynamic model of the flying manipulator,compared with the traditional PID control method,the simulation experiments show that the sliding mode PID can reduce the disturbance effect and enhance the stability and robustness of the system.Thirdly,the trajectory planning based on differential flat and B-spline is designed for the grab estimation of the flying manipulator under the premise of ensuring the stability of the UAV.Based on the dynamic model of the flying manipulator,the feasibility of the differential flat theory is verified by the differential flat theory.The optimal control problem is transformed into a nonlinear programming to solve the problem,and the position,velocity and acceleration are constrained.The UAV flight path point design is then fitted using the B-spline function.Finally,the feasibility of the above trajectory planning method is verified by the tracking control simulation of UAV.Finally,the UAV experimental platform designed in this paper is introduced.The construction of the UAV,the location determination method and the actual effect of the trajectory planning are introduced.The stability status of the UAV is analyzed by the flight attitude data of the UAV.