Research On Flight Stability Of UAV With Mechanical Arm Rotor Based On Singular Perturbation Theor

The research on the rotary-wing UAV with a robotic arm to achieve target object grasping can be divided into two parts: one is the research on the stability of the flight process of flying to the target object,and the other is the research on the target object positioning through vision,the main research content of this paper is the dynamic stability of the flight process.The UAV with arm rotor has the characteristics of high coupling degree and strong non-linearity,and the flight system has certain internal and external perturbations during the flight process.The essence of the singular uptake theory is to reduce the coupling between systems by decomposing the relevant variables of the system into dual subsystems with different speeds and slowness according to the dual time scale.Therefore,in order to study the stability of the flight process of the UAV with arm rotor,this paper carries out research on the attitude of the flight process based on the singular uptake theory,and the main research contents are as follows:Firstly,the system dynamics model is established according to the Euler-Lagrange potential and kinetic energy theory,and the model is simplified according to the ideal flight state,and the simplified model is decomposed into the inner and outer loops,which are the inner loop attitude control and the outer loop position control respectively.Based on the decomposition of the inner and outer loops,the fast and slow subsystems are decomposed using the singular regression theory to further reduce the coupling of the system and design separate controllers for the fast and slow subsystems,taking into account the characteristics of the outer loop dynamics model and the dual time scale feature.Secondly,the PID(Proportion Integration Differentiation)controller is designed for the decomposed inner and outer loops to analyse the interaction between different variables.A non-singular terminal sliding mode controller is designed for the decomposed fast and slow subsystems of the outer loop,and a disturbance observer is introduced to offset the internal and external disturbances of the system.A simulation is carried out to compare the burst disturbance with the continuous disturbance signal,and a comparison is made with a two-loop system using PID control to highlight the effectiveness of the control algorithm proposed in this paper.Finally,the simulation and experimental platform of the UAV flight system with arm rotor is installed,and the flight data are analysed in the simulation environment and the real environment to verify the control effect and practical feasibility of the proposed algorithm.