Dynamics Modeling And Research On Control Method Of Quadrotor UAV With Manipulator

Research on the control of Unmanned Aerial Vehicle(UAV)is very mature.UAV itself is an underactuated system,and the whole system becomes more complex and more coupled with the manipulator.The interaction between the manipulator and UAV will make the existing control methods of UAV ineffective,getting the UAV and manipulator to work in steady coordination is a big challenge.In view of this problem,this thesis designs the control method of the quadrotor UAV system with the manipulator,which realizes the stable flight of the UAV according to the planned path,and can satisfy the flight action of the manipulator grasping the target object.Specific research contents are as follows:1.The basic flight principle and control method of UAV are discussed.According to the dynamics model,the traditional PID control algorithm is used to design the control channel,and the control model of the UAV is established in simulink.Then a verification method is designed,which combines the control method model with the 3D UAV model drawn in Solidworks,so as to verify the effectiveness of the control model.2.The Lagrange method was used to establish the dynamics model of the quadrotor UAV with manipulator.According to the model,it can reflect the complexity of a system,and also reflect the factors affecting the UAV system,and control these factors respectively,so as to achieve the purpose of stable control of the whole system of the quadrotor UAV with manipulator.Therefore,the dynamic model is established to pave the way for the subsequent design of control methods.3.According to the dynamics model of the quadrotor UAV with manipulator,the traditional PID control algorithm was used to construct the control quantity and the control channel.Combined with the control principle of UAV and manipulator,a set of control method is designed,and the stability control of the quadrotor UAV with manipulator is realized in the simulink model,and the design verification method is used to verify.4.Based on the designed control method of quadrotor UAV with manipulator,the PID control algorithm is improved.Because the parameters of the traditional PID are fixed,it can not meet the special task requirements of small overshoot and fast steady-state time at the same time,so the fuzzy PID control algorithm is used to control.According to the simulation results,compared with the traditional PID control algorithm,the fuzzy PID control algorithm: among them,the overshoot of each channel is 0%;The time to steady state increased by a factor of five;The time to return to steady state when disturbed increased by 30%.In this thesis,the quadrotor UAV with manipulator is taken as a whole to design the control method.It is the first time that fuzzy PID algorithm is applied to this control method.Its application improves the position accuracy and the expected time of UAV with manipulator,and it’s more resistant to interference,it is of significance to expand the application scenarios of UAV with manipulator.