Research On Variable Load Analysis And Adaptive Control Method Of Quadrotor

On account of convenient take-off and landing,low cost,and simple manipulation,rotor drones have broad prospects for development in the field of drone distribution.However,to ensure the safety of the cargo,the current research mostly focuses on the anti-swing research and ignores the serious problem of the unmanned aerial vehicle itself and the cargo falling out of control at the same time caused by the load disturbance（sudden changes in quality when loading and unloading goods independently,the cable-suspended cargo will swing when disturbed by wind field,the gaseous cargo is sprayed when the container bursts,the liquid will agitation occur when liquid goods are transported）.Therefore,studying how to improve the ability of UAVs to resist various load disturbances（adaptive anti-variable load）provides a new perspective for ensuring the overall safety of the distribution process.In this paper,the following research is carried out on the quadrotor UAV system with load and the anti-variable load control method:First,various variable loads and typical quadrotor UAVs are jointly modeled,and quantitative evaluation indicators about models are given.The relationship between each parameter and the UAV’s spatial position and body attitude is studied during the changes that put the variation in a load of grasped or suspended by UAV abstract to sudden change or periodic change about the weight and position of the particle.Secondly,the adaptive super-twisting sliding mode controller is optimized to improve its anti-variable load capability.To solve the problems of sliding mode buffeting,loss of control of the UAV when the load changes,and difficulty in parameter adjustment,by constructing a continuous function,observing and compensating model parameters and particle swarm parameters to optimize the controller,and the anti-variable load performance of the designed controller is verified by simulation under the conditions of changing the load mass continuously,changing the load center of gravity and load swinging.Finally,the physical platform of the quadrotor UAV is built to verify the effectiveness in resisting variable loads of the adaptive super-twisting sliding mode controller.The control structure of the UAV is refined,and the actual flight verification of the quadrotor UAV against variable load is completed under overload and load swing conditions.The simulation and physical verification results show that the anti-variable load capability of the quad-rotor UAV controller optimized is significantly ameliorated,which improves the overall safety of the application of rotor UAV in the cargo field.