Design And Control Of Multi-Joint Manipulator System For Small UAVs

In recent years,as a research hotspot in the field of aerial robot technology,aerial manipulator system has gained more and more attention.The aerial manipulator greatly expands the working range of the manipulator and the application field of UAV.This paper designs a multi joint manipulator control system based on UAV,and makes an in-depth study on the system composition,mathematical model,trajectory planning and control method of airborne manipulator.The main contents of this paper are summarized as follows:(1)The multi joint manipulator system of small UAV designed in this paper is mainly composed of culvert UAV,manipulator body,mobile battery compartment structure,brushless DC motor(BLDC),steering gear,sensor and main controller.BLDC is driven by the designed brushless DC motor drive board? The main controller is raspberry pie 3B + as the upper computer to realize trajectory planning,controller output,and communication with the drive motor control board.A battery movement compensation system is designed to compensate the force and torque exerted by the manipulator on the UAV.(2)The modeling of ducted UAV and multi joint manipulator system is carried out,including their respective kinematics,dynamics equations and aerodynamic analysis of ducted UAV.For the combined system,the Lagrange equation is used to establish the overall dynamic model of the manipulator system of the ducted UAV platform,and the system simulation model is established in MATLAB software according to the obtained model.(3)According to the dynamic model of the whole system,the ADRC is designed and simulated.The controller uses the extended state observer to estimate and compensate the internal and external disturbances of the system,decouples the multivariable coupled system into multiple single degree of freedom second-order series integrator systems,and designs the error feedback control law for each control channel.(4)In the face of too many parameters to be adjusted,it is difficult to achieve the best control effect.Combined with the idea of active disturbance rejection and sliding mode control,a sliding mode controller based on exponential reaching law is designed.The external and internal disturbances of the system are estimated and compensated by the extended state observer,and the parameters of reaching law are fuzzy controlled,At the same time,it can restrain the chattering phenomenon of the system and improve the working performance of the system.At the same time,the reduction of the number of parameters is also better for engineering application.In MATLAB simulation,the stability,accuracy and output energy consumption of the above controllers are compared and analyzed,and the controller test of the manipulator is completed.